Design And Implementation Of The Hexapod Rescue Robot System Based On Wireless Transmission

Applying robotics to disaster response is one of the hotspots of the world scientificresearch today. With the rapid development of rescue robotics, robot will play a significantrole in disaster rescue. The important tasks of the research and development of rescuerobot include the designing of the robot, the designing of the data collection system, andother work in need. The paper aims to research and realize a rescue robot system, and themain research contents are as follows:Firstly, the paper designs the mechanical structure of the rescue robot, and completesthe gait planning of it. The rescue robot is designed to be a hexapod bionic robotdepending on the application requirements. Then the paper analyses the movement and theforce conditions of the three joints of each leg, which provides the basis for choosingmotor. Besides, the paper completes the gait planning of the rescue robot based upon themechanical structure, and uses MATLAB as the simulation platform to prove and analyzeit.Secondly, the control system of the rescue robot is studied deeply. A function analysisis done depending upon the robot’s special application. Then this paper completes thedesigns of PCB based on the function analysis, and after that the wireless communicationsystem and image acquisition system of the control system are introduced as two keypoints.Finally, the paper designs the remote control terminal of the rescue robot system. Thebasic function of the remote control terminal is, on the one hand, to display the imagefrom the rescue robot, on the other, to send controlling orders in order to control the robot.The remote control terminal designed by this paper consists two parts: the upper computersoftware and the information transceiver based on DSP. The former is responsible for theimage displaying and the human interaction, and the latter is responsible for the wirelesscommunication and the data processing.