Structural Optimization And Kinematics And Dynamics Of Rescue Robot

The global earthquake disaster occurs frequently and the rescue task has the characteristics of tight time limit,high functionality and intelligence.In view of the above requirements,the paper has made a series of studies about the structure design,size optimization,kinematics analysis,and dynamic analysis on the rescue robot.Firstly,the structure of the robot arm was designed and optimized.The corresponding walking platform and the anthropomorphic seven-degree-of-freedom redundant manipulator were designed according to the working condition and operation form.Static analysis of main components were made,whose results showed that the manipulator had some optimization space.In order to improve the load weight ratio of the manipulator,the dimensions were optimized based on the response surface method,and the structure of the manipulator was optimized.Secondly,the kinematics of the seven-DOF(degree of freedom)redundant manipulator was studied.The local coordinate systems of the manipulator were established based on DH method.The kinematic equations of the manipulator were established and the working space of the manipulator was solved by Monte Carlo method.Based on the gradient projection method,the inverse kinematics problem of the redundant manipulator was analyzed,taking the singularity and joint limit of the manipulator in consideration.And the closed-loop inverse kinematics method with error feedback was introduced to improve the accuracy of inverse kinematics.And then the virtual prototype model was built to simulate the dynamic performance.The basic theory of the dynamic equation based on the Lagrangian method was summarized.Based on ADAMS,the fixed point control and trajectory tracking simulation tests were made on single joints.The simulation results showed sensitive response when fixed point controlling and good tracking effects.The ADAMS virtual prototype model was introduced into MATLAB,and the control system of the manipulator was established based on MATLAB/simulink where the interactive simulation platform was established.The simulation results showed that the method was feasible.Finally,physical prototype of rescue robot was manufactured.The real-time control system based on the rapid control prototype technology was established,and the traditional PID control was used to test the tracking effects of the physical prototype.The experimental results proved that the inverse kinematics of redundant seven degree of freedom manipulator met real-time and effective requirements and dynamic simulation was correct.