Design And Analysis Of Throwing Detection Robots

As an important branch of modern military robots,mobile reconnaissance robots formed a certain scale of product groups,and had a good accumulation of technology.As a new research direction in recent years,throwing-type reconnaissance robots have a broad prospect.Based on the collection and analysis of research results,this paper designed a small throwing-type reconnaissance robot,carried out researches on its hardware design,structural design,balance stability,the analyses of kinematics and dynamics,etc.Combined with other products,the technical indicators,such as small size,simple structure,and certain over-obstacle capacity were put forward.The robot scheme was designed.Based on the design scheme,the work processes and principles of the robot were expounded,and the whole structure of the robot was carried out.The hardware of the robot control system was designed,and the whole 3D model of the robot was constructed.Aiming at the stability of the robot post-laying process,the robot structure was optimized,including the axis centroid,the balancing technique.The axis centroid optimization by mechanical design software enhanced the main axis stability.The complex structure of traditional inverted pendulum was reformed.The balance body was designed and the balance structure was analyzed and optimized by MATLAB software.The principle of recovering equilibrium state of robot in complex environment was analyzed emphatically.Aiming at the problem of improving the anti-knock performance of small robots,the robot was designed in a lightweight way,and the assembly mode in the key fitting parts was optimized.The rationality and reliability of the design were demonstrated through calculation by introducing the impact load calculation.Aiming at the problem of motion stability and obstacle avoidance performance of wheeled mobile robot,the kinematics model of the robot was constructed,and the motion planning and dynamics analysis were carried out.The dynamic simulation of the robot was carried out by using ADAMS software,which validated the feasibility of motion planning in various environments.What’s more,the robot could adjust the position and attitude after climbing over obstacles.