Design And Control Of Manipulator On Forest Fire Embers Detection And Cleaning Robot

Forest Fire occurs frequently and is very dangerous.When the fire is put out,there are still embers under the ground and dead woods.If embers cannot be cleaned up in time,they would easily cause secondary combustion and expand the scope of fire.Statistically,the occurrence of most forest fire is due to the delay or incompletion of embers cleaning.Forest fire embers detection and cleaning work is heavy,difficult and may have threats to people's lives.Currently,there are few researches on forest fire detection and cleaning.According to this situation,design and control of manipulator on forest fire embers detection and cleaning robot is conducted.Based on the moving hexapod platform,researches concerning 3D structure establishment,motion analysis,simulation analysis and control system design are carried out.(1)Finished manipulator's structure design with SolidWorks,including the shape of whole structure,settings of DOF,joint transmission design and terminal devices design.(2)On basis of structure design,obtained the kinematical model by establishing D-H coordinates,derived kinematical equations with homogeneous transfer matrixs,and carried out velocity jacobian matrix.(3)Finished direct kinematical simulation and inverse kinematical simulation.Simulation curves show that manipulator moves steadily,which demonstrated that manipulator's structure is rational.(4)Finished manipulator's control system design.Combined with manipulator control system requirements,selected ‘Arm + FPGA' control mode.Completed hardware design of motion control system.Carried out study on motion control algorithm and design of motion control strategies.