Structure Design And Analysis Of Wheel-tracked Search And Rescue Robot

In the face of disaster like earthquake,not only to ensure the safety of people affected by the disaster,speed and accuracy of rescue.But also The most important thing is to ensure the safety of the rescue workers.Therefore,the application of mobile robot platform is an important trend in post disaster search and rescue.Workers can control the mobile robot to perform dangerous search and rescue tasks,This will be able to reduce the maximum level of casualties of people in the rescue mission,at the same time,significantly improve the efficiency of search and rescue operations.The objective of the dissertation is to design a kind of mobile rescue robot with wheel-tracked composite function.The robot combines the features of wheeled and tracked mobile robots,wheeled mobile and tracked mobile can be converted to each other,the robot has the high mobility of wheeled mobile and high obstacle performance of tracked mobile.Firstly,introduce the development status of different robot mobile platforms at home and abroad,.and their respective advantages,disadvantages and working environment,come up with a new scheme of mobile mechanism.After determining the general scheme,Based on the new scheme,deployment mechanism,inside drive system and outside wheel,support frame,stand and flexible crawler belt have been devised to be detailed 3D models.Then kinematics analysis have been done for crawler belt moving,obstacle navigation principle when using crawler belt to move has been studied,to provide theoretical basis for physical prototype experiment;have builded a nonholonomic constraint model of wheel moving,discussion has been done for the realization of the way for the linear motion mode and turn motion mode.Then the robot digital prototype model was created,using Adams software to start motion simulation analysis of robot,the angle of deployment mechanism has been confirmed.The working situation when robot using crawler belt to do obstacle navigation has been simulated using Adams simulation software.At last chose the electric motor and gear reducer scheme,assemble the physical prototype of robot,and complete the related movement experiments.To verify the rationality and effectiveness of robot's structural scheme.