Research On The Kinematics And Dynamics Of Wheel-tracked Search And Rescue Robot Mobile Platform

Search and rescue robot is a robot that can perform the tasks of detection,surveillance,search and rescue in the complex unpredictable unstructured environment.As the main body of search and rescue robot,the mobile platform are executive components of walking system and working system.This paper proposed a robot mobile platform of wheel-tracked,studied its kinematics and dynamics,and provided a good performance of the mobile platform for the designment of search and rescue robot,so that it can adapt to complicated and changeable environment.First of all,comparing with the moving ways of the existing commonly used search and rescue robot,their advantages and disadvantages of wheel-tracked robot were analyzed.We made overall designment for mobile platform,and added four swing arms and four wheels on the basis of the mobile platform main body,By the means of the wheel-tracked collaborative operation mode,and the parameters designment of the main parts were made,and designed and assembled the main parts by the use of Pro/E.Then,The analysis of the kinematics and dynamics for robot mobile platform were made.Through theoretical analysis,the kinematics and dynamics model were built for different models movement ways.For mobile platform,straight line,steering,climbing hill and the ditch,climbing vertical obstacle and the restoration movement were analyzed.And mainly analyzed the linear motion and force of mobile platform,steering radius and avoiding obstacles by different radius steering,the critical value of upsetting for climbing movement,the process of stress analysis of climbing steps,which provided theoretical reference for structure optimization.Finally,by the use of ADAMS virtual prototype analysis software,simulation of different movement forms for robot mobile platform were made,which verified the rationality of structure design and theoretical analysis of the mobile platform.The research results in this paper provided certain theoretical basis for steering,climbing,surmounting obstacles and resetting,and provided some theoretical reference and technical support for the overall design of search and rescue robot mobile platform.