Design And Research On The Wounded-transfer Robot With Self-balancing System

Aiming at problem of low transport efficiency,high human resource consumption,discomfort of injury,injury and even sec ondary injury in the unstructured environm ent after disaster with complex,unknown and changing,this paper puts forward the omnidirectional self-balancing system based on m ultiple balancing mechanisms with time-space integration ability and designs a crawler-type wounded-transfer robot system with high pavem ent pass-ability and self-b alancing system.According to the overall structural scheme of self-balan cing system and m obile platform,the sim ulation is designed and analyzed,combined with its functional indicators to build control system,and finally the prototype production and experimental verification is completed.The contents of this paper are as follows:(1)The design and system planning of the overall scheme and structure of the self-balancing transport robot are propose d.The self-balancing system,the m obile platform and top wounded fixing device ar e designed and analyzed,and the planning and construction of the overa ll of the contr ol system are com pleted.Against the rationality of the size of the structure of the wounded fixture,to achieve the full range of transport robot self-balancing function,better barrier performance in the complexity of the complex road is ensured;(2)Study of the motion characteristics of self-balancing tr ansshipment robots is completed.Firstly,the kinem atic model of the self-balancing system is establis hed based on the RPY theory,according to the structural characteristics of the self-balancing system.Secondly,combining with the kinem atics equation of self balancing system,using MATLAB software based on the M onte Carlo m ethod to com plete the construction of self balancing sys tem working space images;at the same time for the establishment of the mobile platf orm in the thr ee route of linear,rotary and arc ty pes under the kinematics equation.Finally,the climbing performance and anti-overturning performance of the self-balancing trans port robot are analyzed theoretically and checked.(3)Design and construction of self-bal ancing wounded-transport robot control system is c ompleted.According to the design index and function requirem ents of self-balancing transport robot,th e human-computer interaction in terface is design ed,which includes motion control module and data acquisition module.And com plete the robot remote control function through the wireless transmission module.(4)Complete the prototype production and e xperimental study of self-balancing transport robot.Including the driving on the plane,the slope driving and the actual working conditions,the transshipm ent robot full range of driving ability,and high pavement pass-ability and the top of the ab solute level of the wounded to adjust the ability is verified.Experimental result shows the rationality,feasibility and effectiveness of design scheme,theory analysis and technical methods.