The Study On Fire-fighting Robot Structure Design And Control System

In recent years, along with our country national economy steadily growing fast,all kinds of industry has got rapid development, but the resulting fire accidents have also been presented rising trend. In the face of high temperature, dark, toxic and smoke at high risk of fire environment, it is difficult for firefighters to keep track of circumstance inside. So rushing into the scene of the accident may easily cause unnecessary casualtise in the case of unknown danger. At present, the new fire regulations promulgated has made it unavoidable legal obligations to rescue the fire accident. Development of the fire-fighting robot, therefore, to ensure the safety of firefighters, complete relief mission is becoming too urgent and necessary.The paper first introduces the research background and significance of fire-fighting robot, domestic and foreign research status and development trends and the problems existing in the process, expounds the fire-fighting robot development that needs to solve the key technical problem. Mechnical arm, according to the requirement of robot body and mechanical structure design, design a kind of adaptive to irregular surface of four degrees of freedom mechnical arm structure, and emphatically from the torque and power requirements for the type selection calculation.using the D-H method to fire fighting robot kinenatics analysis,set up mechanical arm cartesian space coordinate system, makes a deep analysis of the positive kinematics solution and inverse solution. In the MATLAB software environment, by software unique robot kit to establish simulation model of mechanical arm to arm is inverse kinematics simulation and analysis, and based on the monte carlo method of the robot can reach the approximate solution of the workspace.Finally, the fire-fighting robot control system hardware and software part has carried on the overall design, hardware parts according to the actual needs of DSP chip minimum system module, operation module, wireless communication module, motor control mudule, joint location information module circuit design. Software part according to the functional requirements, the general structure of software,up and down a machine process and the related software modules are discussed in this paper. In order to improve the system anti-inerference, from hardware and software aspects put forward the corresponding protective measures and methods.