Structural Design And Barrier Analysis Of Anti-Terrorism And Anti-Riot

In this paper, based on the design requirements of the current domestic mobile robot, a new type of multi degree of freedom, deformable tracked anti riot robot is designed according to the people's Livelihood Science and technology project in Qingdao. The anti-terrorism and anti riot robot legs and track deformation by combination, a total of 12 degrees of freedom, flexibility deformation, deformation through a variety of ways, can cross the ditch, can climb high boss obstacles.First, the situation of anti-terrorism and anti riot robot at home and abroad are introduced, combined with the present situation of the research at home and abroad,comparing the domestic and international anti-terrorism and anti riot robot gap, put forward their own multi DOF deformable mobile robot idea;Then, according to the design requirements, put forward different design schemes, comparative analysis of each scheme, choose a suitable can not only meet the requirements can be reduced to the lowest quality design and has the advantages of simple structure, according to the design scheme, using Solid Works 3D graphics software to each part of the parametric modeling, and to each component model given material properties, then the parts will be added according to the assembly relationship with virtual prototype, get anti-terrorism and anti riot robot;then, according to structure characteristics of anti-terrorism and anti riot robot,analyzes the obstacle climbing capability,and on anti-terrorism and anti riot robot climb convex obstacles and obstacle motion planning over the moat,in without affecting the simulation results, the virtual prototype is simplified and the simplification of the anti-terrorism and anti riot robot modules save For the para solid format, virtual prototype simulation analysis carried out into Adams, the torque,angle, angular velocity, centroid curve, according to the simulation results verified the obstacle climbing motion planning in this paper is correct and the robot obstacle stability under this plan;finally, combined with the virtual prototype simulation results, the deformation of the key anti terrorism robot in the process of the parts is converted to para solid format into ANSYS for finite element analysis, the stress, strain and displacement contours, according to the results of the analysis to check the strength of the key parts.