System Design Of Ground Mobile Detection Robot

In people-oriented concept has increasingly deeply rooted in the hearts of the people nowadays, whether police reconnaissance or military combat, ummanned mobile platforms will be instead of the traditional task execution modes, for beware of the occurrence of danger. The police or soldiers in a dangerous mission, who are often constrained by the limitations of their physiological and psychological, cannot fully meet the mission requirements. Ground mobile detection robot, mainly for instead of people to be to or not appropriate to the dangerous environment, reconnaissance, exclusion and processing of the dangers of unmanned ground vehicles. Robot platform design, the robot as loading robot, reconnaissance robot, EOD robot, armed combat robot. The tracked robot and robot arm, which is the research and development of the similar ground mobile robot, provide the theoretical basis and practical reference.For the detection of ground mobile robot design, the project launched a series of research work, including:1) Determine design parameters. Research the development status of special ground mobile robot at home and abroad, and conduct market research. According to the actual needs of the majority of police soldiers, determine the design parameters of the robot.2) Structure design and motor matching. According to the design parameters, the overall structure of the robot and the modules are analyzed, and the structure design and the motor options are carried out step by step.3) Study on dynamics of traveling system. To robot step climbing, climbing the slope, across the channel and the ground to several motion dynamics modeling and analysis and solution.4) Traveling stability research. Based on the 3D pavement model and dynamic model, the influence of the driving posture, speed and road surface condition on the vibration of the rotating table is analyzed, and the characteristics of the steering on the soft pavement are analyzed.5) Study on the design of the mechanical arm. The overall design, configuration analysis, the structure design, motor options, and then analyses the kinematics of mechanical arm.Finally, in view of the existing design research, this paper puts forward the suggestion of further improvement, and the technology development of the ground mobile robot is prospected.