Mechanism Design And Performance Of Wheel-leg Hybrid Rescue Robot

Natural and man-made disasters happened in recent years,threatened the safety of human life and has caused wide public concern recently.When the Rescue Robot appears,it reduces the loss of disasters,and provides the security of the future life.After we sum up the researches of Rescue Robot,propose a new robot,Leg-wheeled Rescue Robot.The leg use(2-UPS+U)&R series parallel structure.It has a lot of advantages such as large bearing capacity,flexible working space,strong terrain adaptability,and so on.First,this paper will introduce the framework fully,and analyze and solve the position of single leg structure,the speed of each bars,acceleration,inertial force and the statics of single leg structure,receive the relation expression among the force of every joint / torque,driving force,the external force that the end of structure gets.Second,according to the screw theory,we can get the force of every joint / torque,calculate the less rank of the Jacobian matrix,Stiffness matrix and Flexibility matrix.Through the Simulation of SolidWorks,make the finite element simulation for main part of structure,and we get three kinds of pressure and the deformation cloud diagram under the different standing,validate the rationality of structure.Next,we can build the error mapping model of end of(2-UPS+U)&R structure through space vector chain,solve irredeemable errors by separating errors,analyze the sensitivity of(2-UPS+U)&R structure under Monte-Carlo method,find the most influential geometrical error sources to the end of structure,and provide theoretical analysis to improve precision for the end of structure.Last,choose the electric motor and rod by calculating,design the corresponding controller circuit and finish the experiment.This paper is the research of performance of Leg-wheeled Rescue Robot,it has important theoretical value and practical significance,provides sufficient theoretical basis for the future researches.