Design And Simulation Analysis Of Disaster Relief Robot

Earthquake disaster relief robots have always been an important subject of research by researchers at home and abroad.In the face of complex post-earthquake environment,secondary aftershocks and other dangerous situations,disaster relief robots can replace rescuers to carry out dangerous dangers inside the ruins.Rescue missions have greatly improved rescue efficiency and reduced the risk of rescue workers.Therefore,this topic proposes a disaster relief robot that can simultaneously have walking and jumping functions in a complex environment.On the basis of bionics,combined with the trend of lightening and multi-functionalization of disaster relief robots in recent years,the design scheme of disaster relief robot is first proposed,and the robot is modeled in the 3D modeling software Solidworks environment.The simulation software simulates the two motion processes.On the basis of bionics,the structure of the robot is designed,and the modeling software is used to carry out the physical modeling,and the movement and stability of the robot are integrated to establish the most suitable walking mode for the robot.The DH method is used to establish the kinematics equation of the robot.The correctness of the kinematics equation is verified by the state of the leg at a certain moment.After verifying the correctness of the equation,the inverse kinematics equation is solved by the inverse kinematics of the robot.The kinematics equation can solve the angle and attitude of the robot joint at any moment,and refer to the driving function in the simulation under the Adams environment.In the face of obstacles whose actual height is smaller than their height,the robot can be crossed by crawling,because the robot itself uses an extended design method,so the center of gravity is lower and the stability is higher during the crawling process.Through the software simulation process,the overall offset of the robot during the crawling process,the overall speed acceleration,the contact force between the legs and the ground,and the forceat each joint can be visually seen.In the face of relatively large obstacles,the robot can achieve leap by jumping.In the simulation process of the jump,the overall displacement of the robot,the force of each joint when landing,and the contact force between the leg and the ground are analyzed.Through the simulation of the robot,the data of the designed robot during the movement is analyzed.The analysis results show whether the motion process of the robot is stable,and the data reference is made for the actualization of the robot.