| China is one of the countries which have most earthquakes in the world. Earthquake disaster causes extremely serious casualty and property losses to our country. In the onsite of disaster ruins, goods are difficult to be transported in normal methods. Using assistant rescue robot can not only increase rescue efficiency, but also can avoid or reduce casualty of rescue personnel.Compared with wheel robots, walking robots have strong ability of adapting the terrain and good movement and flexibility. In the post-disaster relief work, the walking robots can bear certain rescue goods, and go into rambling ruins for rescue. Currently, China has researched and developed several kinds of quadruped robots. However, there is still less research in the performance evaluation of the robots. No uniform evaluat io n standard has been established, so comprehensive performance for robots is hard to evaluate quantitatively. In order to provide decision basis for advantage and disadvantage comparison of the robots' performance, some related problems are studied systematically in this thesis. Besides, a complete performance evaluation software for the quadruped robots is developed for the first time. This software can record performance parameter data of the robots, calculate evaluation results automatica l ly, and output evaluation report. The main research contents in the thesis are as below:Firstly, structure, performance and operation mode of an earthquake assistant rescue quadruped robot are analyzed. Then, according to domestic and foreign research on robot index, meanwhile, combined with characteristics of our national quadruped robot, a set of performance evaluation index system is established. Besides, according to current development conditions of quadruped robots at home and abroad, united evaluation criterion for quantitative and qualitative index is proposed. In addition, a set of index test specification is established, in order to provide proper and fair reference for index test.Secondly, the commonly used comprehensive evaluation methods and their applicable scope are analyzed and compared. Due to the index system's characteristics with less sample, multiple factors, and the combination of quantitative and qualitat i ve indices of quadruped robots, AHP-Entropy-Fuzzy comprehensive evaluation is applied to evaluate the performance of quadruped robots. This thesis discusses the advantages of the method in the application level, and introduces the use steps of this method on quadruped robot evaluation issue in detail.Thirdly, based on the performance evaluating index system and AHP-EntropyFuzzy comprehensive evaluation method, a complete evaluating system for earthquake assistant rescue quadruped robot is proposed. The feasibility and availability of this evaluating system is proved by an example. This example make a point for the sample robot's comprehensive performance, which reflects the strength of our nationa l quadruped robots to a certain extent. Besides, through analysis of generated data and evaluation results during the evaluation process, many suggestions for performance optimization of the robots are put forward.Finally, according to this evaluating system, a computer software is developed, which is used for performance evaluation of quadruped robots. This software is capable of managing robot's information, experts' information, the performance index system and the index evaluation criteria. Then, on the basis of the scores given by experts and the measured data, the evaluation results are calculated by this software. This evaluat io n software provide an available tool for performance evaluation of quadruped robot. |
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