Kinematics Analysis And Simulation Of A Novel Continuum Robot For Search And Rescue

This paper puts forward a kind of robot which can collect rescue information at the disasterscene according to the needs of emergency rescue equipments that can play a major role whenearthquake, debris flow, landslide, flood and other major disasters occur in our country. Therobot can adapt to unstructured environments caused by the disasters, which have manyobstacles and narrow work spaces. In other words, the robot can change the position andorientation by adjusting their own mechanism so as to be suitable for a variety of complicatedroad environments. Besides, it can also carry a variety of rescue function modules, which realizeinformation sharing between the robot and the command terminal of the disaster scene. Thispaper mainly includes the following creative work:1.Based on the bionics principle,we designed a rescue robot.We use the spring as the robot’sbody structure to make the robot adapt to the post-disaster unstructured environments.The robotis composed of two joint sections which have four bending degrees of freedom. We can changethe position and orientation of the robot through the coordination control of the six drive lines.2.Using a new kinematics analysis method for the continuum rescue robot. Due to thestructure characteristics of continuum rescue robot,the traditional kinematics analysis methodsare no longer applicable.And we use the screw theory and exponential product formula to buildthe kinematics model of the robot.And based on the approach,because the solution of the inversekinematics can directly use the sub-problems so that can simplify the analysis of inversekinematics.In addition, the paper established a simple calculation interface in Guideenvironment,because the repeatability of the method calculation.3.The rigid-flexible mixed ADAMS virtual prototype model of the continuum robot wasestablished.According to the requirements of the flexible spring structure,we can get its meshprocessing through ANSYS programming.Finally, we can obtain the rigid-flexible hybrid modelof the robot by combining the flexible spring with other structures,in order to verify thecorrectness of the theoretical kinematics analysis.