Design And Research On Manipulator System Of Search-and-Rescue Robot

With the development of science and technology, automation equipment has affected every aspect of our life. Robot technology as a high-tech industry automation products, also attract more people’s attention and research. Especially in the disaster, bad environmental risk and all kinds of complicated situations, robots replace man to work and reduce environmental damage to people. Therefore, applications of search-and-rescue robot both in military and social occupies a very important position. It is necessary to do design and research on the system.The main research works are as follows:First of all, analysis of the search-and-rescue robot at home and abroad research situation. The existing search and rescue robot with arm system are investigated. Manipulator search-and-rescue robot of design parameters is determined. Based on the establishment of parameters to calculate, select and design. Virtual prototype of the arm is designed using modeling software of Solidworks 3D. After that, applying static analysis of the Solidworks software, intensity stress larger brackets is simulated. By verifying the feasibility of the robotic arm parts drawing processing, the whole manipulator is drawn in figured, processed, and assembled, then experiment prototype is completed.Secondly, the kinematics and dynamics model is set upon the manipulator. The simulation results were compared with actual situation, and the errors analyzed. Using ADAMS, the dynamics of the overall manipulator is analyzed, and the acceleration curve and motion velocity is been got, which make a foundation for subsequent work.Finally, the design of the control system of the manipulator is completed. Using the Arduino as a controller, the hardware system is formed based on the controller module, steering gear module, detection of temperature and humidity module.The whole manipulator system is completed based on matrix lab of Matlab and the Arduino software.