Design And Research Of The Six-wheel Rescue Robot

In order to adapt to the complex unstructured environment,now the terrain rescue robots have been involved in a lot of research at home and abroad.It basically can be divided into wheeled rescue robot,crawler rescue robot,and Wheel-Tracked rescue robot.However,these types of rescue robots have some limitations.Wheeled rescue robots' mobility is good,but its obstacle-surmounting performance is poor;Crawler rescue robots' obstacle-navigation performance is good,but its mobility is poor;The wheel-Tracked rescue robot combines the advantages of both above but the structure is relatively complex.The goal of this project is to research and development a six-wheel rescue robot which have a good maneuverability,strong climbing ability and self-adjusting suspension,which is based on robotic technology,rescue operations,disaster science and other disciplines of knowledge.Firstly,the paper analyzes the advantages and disadvantages of wheeled,crawler and Wheel-Tracked rescue robot at home and abroad,their application environment and situation.The thinking of six-wheel rescue robot design is presented based on disaster parameters in this paper.The drive system and mechanical structure of swing arm system of six-wheel rescue robot are designed.And we use the SolidWorks 3d modeling software for modeling and assembly of parts of six-wheel rescue robot.Its swing arm system,spindle and circumferential suspension system are analyzed and optimized by finite element analysis software.Secondly,Its negotiation process is analyzed and planed.in order to ensure the robot movement stability,we proposed the most superior attitude parameters through the genetic algorithm in obstacle of geometric constraint conditions.Its simulation analysis of negotiation process is done through ADAMS software,which validate the correctness of the obstacle-surmounting planning.Again,on the basis of six-wheel rescue robot's mechanical structure and obstacle-surmounting planning,the hardware and software of its control system are designed.Its design adopts the modular design method,which makes the control system has simple structure,low cost,low energy consumption.Then we validate the rationality and effectiveness of the control system through the simulation and experiments.Finally,the achieved research result has been summarized,and the development prospects of six-wheel rescue robot have been planed from its mechanical structure,motion control system,motion planning,man-machine engineering etc.