Design And Research On The Mechanism Of Dangerous Environment Teleoperation Robot

The dangerous environment teleoperation robot is an important field in the development of robot technology,which is used in many various dangerous occasions not suitable for people to work.This paper describing a dangerous environment detection robot which is used in oil field.According to the environment of oil field,analysing the structure of the robot.Establishing three-dimensional model of each part of the robot.Compare the advantages and disadvantages of several moving mode,the crawler chassis is chosen as the walking mechanism of the robot.According to the need of detection robot,design a three degree of freedom manipulator,a variety of gas detectors and sensors are mounted on the robot body.Explosion proof design for robot body to ensure the safety of the robot in flammable and explosive places.Checking the key parts of the robot combined with CAE simulation software ANSYS..Ensure the robot design and reliable from parts.Anlysising the whole machine by theoretical analysis.The driving principle,passing capability,ground adhesion and stability are included.The robot posture when the robot may not be able to pass through the obstacle is planned.The dynamic simulation of robot in dynamic simulation software.Mainly in different pavement performanceof robot.And analysis the obstacle crossing ability to get the robot in different pavement conditions.To validate the correctness of the theoretical analysis before.After the completion of robot virtual prototype,build the prototype of the robot and build the robot system platform.Test the performance of the robot,get basic performance and obstacle performance of the robot.Finish the research and development of a dangerous environment teleoperation robot.