Design And Research Of Anti-Terrorism Robot With Wheel-Tracked Variable Structure

Terrorism can not only cause heavy loss to lives and properties, it also can have huge impact on economy and politics of a country or a region, result in some consequence which cannot be estimated. In the terrible situation, anti-terrorism robot has been a big issue, more and more countries are making research on it. Anti-terrorism robot can disarm explosive safely and help counter strike to fight against terrorism, so as to minimize lives and properties loss as much as possible. The objective of the dissertation is to develop a wheel-tracked varible structure anti-terrorism robot mobile platform, so as to provide a small size, light weight, high speed and high obstacle navigation performance mobile platform for improvement of anti-terrorism robot's functions in future.At first, analysis of advantages and shortages, working condition and mission of anti-terrorism robot both domestic and overseas have been done. To solve the loose structure problem of wheel and tracked platform, a new structure design for the wheel-tracked interactive structure anti-terrorism robot has been brought forward. Based on the new design, open component, inside and outside wheel, stand and flexible crawler belt have been devised, a 3D system model for the robot have been set up,and dimension parameters were obtained, which provide the fundament for the manufacture of sample robot.Then kinematics analysis have been done for wheel moving and crawler belt moving, have builded a nonholonomic constraint model of the robot, discussion has been done for the realization of the way for the linear motion mode and turn motion mode, obstacle navigation principle when using crawler belt to move has been studied, the motion principles of climbing steps and slopes, going across ditches and crawler belt kinematics were analyzed to provide some data for experiments.Thirdly, assemble and simulation have been completed, the angle of open component has been confirmed, the optimization for each component were done by the interfere simulation. The working situation when robot using crawler belt to do obstacle navigation has been simulated using RecurDyn multi system simulation software, the ability of obstacle navigation has been found out.At last chose the drive and control scheme, assembled and experimented with the sample robot. The experiments verified the validity of structure design.