The Mechanism Design And Simulation Of The Continuum Rescue Robot

With the development of the civilization of human society, Human beings invented variousmachine equipments which are used for post-disaster rescue field. Because the specificity ofrescue field, it confines the use of machine equipments.In order to better adapt to the rescue filed environment, especially the severe environmentof the earthquake, this paper puts forward a new type of continuum robot. It has advantages oflight, flexibility, small occupying area, portability. It can adapt the unstructured environment well.The front-end flexible part can stretch into post-earthquake slit of ruins. It greatly improves theefficiency of search and rescue. And the robot reduces the intensity of the rescue workers. Thepaper innovative work includes the following sections:1、Introduce the development status of the rescue robots. Collect the latest research of thecontinuum robots and summarize the gathered information. And get the development trend anddevelopment difficulties of the continuum robots.2、According to the research background and applications, we research and discuss theoverall design scheme of the robot. In order to adapt the unstructured environment, we usedifferent motors pull different wires to bend the flexible part. In order to enter into the deeper ofthe ruins, we use screw mechanism to elongate the flexible part.3、Create the simplified3D models of the continuum robots in Pro/E. Detailed complete thedesign of mechanical structure including: the choice and design of the material of structure, fixedform, the way of drive. And it also contains the choice of motor, force sensor, camera, lifedetection, voice frequency equipment and pump and the fixed form.4、Do the kinematics simulation by Ansys and ADAMS software. The simulation resultsdemonstrate the feasibility of the design. In view of some inadequacies, propose optimizationdesign by analysis and comparison.