Research On Robotic Arm And Avoidance System Of Rescuing Robot

Rescue robot used in ruins is a kind of multifunctional and automatic device. It is used to find the survivor when the earthquake and mine disaster happen. The main function of my rescue robot is crawling in the ruins, avoiding the barrier automatically and searching for the survivor. After finding the survivor, the robotic arm will carry the survivor out the disaster scene and send the messages to the rescue center. In the rescue work in earthquake, mine disaster and fire disaster, the research of rescue robot has far-reaching significance.Firstly, the thesis discussed the production of robotic arm. The robotic arm consists of torso, arm and hand. The robotic arm has five degrees of freedom, and the connection is simple between joints. The arms simplify the transmission process. The robotic palm improved gear engagement, and it can be controlled wirelessly.Secondly, the thesis discussed the control system, which is comprised of joints, driving system of chassis and driving system of joints. The article presented several schemes and selected the best one. The joints which is comprised of steering engines rotates steadily. The chassis adapts to the complex terrain. The system has high accuracy and basically meets the design requirements of small rescuing robot.Finally, the thesis discussed tactile avoidance system, which is comprised of force sensor, weight transmitter, data-collecting card and computer. Through the different experiments, we found that the system is reasonable and it can target the position of barrier and measure the contact force. The tactile avoidance system makes the move and rescue more efficient.The robot discussed is still under experiment and research. The project has completed the preliminary design of manipulator and this thesis had study on the tactile avoidance system. It is small and can adapt to the complex and narrow environment. It can be controlled wirelessly.