Design And Development Of A Walking Excavator

Natural disaster is a common challenge that mankind have to face. Natural disaster in our country has the characteristic of many varieties, high frequency, wide scope and severe destruction. Various kinds of natural disasters frequently took place in our country, such as earthquakes, typhoons, floods, droughts, landslides, fire and hails. Natural disaster rescue equipment, as the most important rescue tool support for disaster rescue, is the foundation of the rescue system and the key factor for determining success of rescue and the efficiency of rescue, so its importance is increasingly paid high attention and widely concerned by people.As an important part of the National 863 Key Projects, aiming at the requirement of emergency rescue equipment in the event of major disasters like earthquakes, landslides, landslips or floods etc., based on the full study of various kinds of advanced rescue equipment at home and abroad, combining the advantages and disadvantages of various structure types of rescue equipment, this topic has developed a disaster rescue robot with multi-joints, multi-degree of freedom and a combination of walker and crawler, which can make single-step across, multi-step across, and synchronous follow up and carry out tasks of wading, obstacle-surmounting and climbing on the disaster site. Rescue terminal devices with multi-function modular for excavating, lifting, crushing and drilling etc. can be mounted on the upper platform to crush and drill the obstacle on the site, which has the ability to carry out those tasks that cannot be done by small equipment and also has the unstructured terrain adaptability that are not possessed by huge equipment and can make various kinds of operation in any severe terrain where other rescue equipment cannot reach.This thesis mainly studies on: structure design and industrial design of walking excavator based on Pro/e 5, analysis on stability, steering and obstacle-navigation of the walking excavator based on theoretical calculation, including degree of freedom and mechanics analysis of walking chassis,operation, analysis on kinematics of operation, stability, steering and obstacle-navigation of the robot based on ADAMS 2013.The research results of this topic have some innovative and practical value, which may greatly improve the disaster rescue efficiency, shorten precious time for life rescue, fill domestic blank for system rescue equipment, and provide strong guarantee and support for maintaining social stability and protecting people’s lives and property safe.