Research On Structure Optimization And Control Of Mine Rescue Robot Manipulator

Compared with developed countries in Europe and America,China's coal production efficiency is low and coal mine accidents are high.In order to reduce the risk of rescue workers and reduce the risk of rescue,rescue robots have been applied to coal mine rescue,assisting or replacing rescue personnel into the disaster area,monitoring the coal underground environment and finding survivors to improve rescue efficiency.The mine rescue robot manipulator places a communication repeater to achieve longer distance wireless transmission.When the mine rescue robot encounters obstacles on the way,you can use the robot to remove stones and debris and continue to move forward.The work is mainly carried out from the following aspects:Firstly,the laboratory independently researches the kinematics of the rescue manipulator,establishes the D-H mathematical model of the mine rescue robot manipulator,and completes the robot's positive kinematics and inverse motion.Using the robot toolbox developed by Peter Corke in MATLAB,the standard D-H kinematics simulation mathematical model of the manipulator is established,and the simulation of the positive and negative solutions of the manipulator pose is completed by inputting the correlation function.Provides a theoretical basis for subsequent motion planning.The Lagrange equation of the rescue manipulator is solved,and the parameter inertia matrix,centrifugal force and Coriolis force coefficient matrix and gravity term matrix of the dynamics of the manipulator are calculated.Established the foundation for the rescue robot control below.Second,the PID algorithm is used to control the mine rescue robot manipulator.On this basis,the fuzzification,fuzzy rules and fuzzy inference of fuzzy PID algorithm are designed in detail,and genetic algorithm is used to optimize fuzzy rules,membership functions and PID parameters.The simulation design of genetic fuzzy PID control algorithm is realized by MATLAB simulation,and the simulation results of the rescue robot genetic optimization fuzzy PID algorithm and the conventional PID algorithm are compared.the traditional artificial potential field method has two major defects: target unreachable and local minimum in local trajectory planning.For the local minimum problem,the repulsion potential function is improved by the relativedistance of the target and the additional control force.It is also possible to expand the search range by using the navigation potential function to assist the rescue robot to escape the trap of the local minimum.Then the artificial potential field method is improved for these two problems.Finally,the program simulation in matlab is carried out to verify the reliability and effectiveness of the two improved artificial potential field methods.Finally,the control system of the rescue robot manipulator hardware system and manipulator is designed,and then the rescue robot manipulator is used to grasp the target object experiment to verify the feasibility of the manipulator design.Finally,with the lightest torque of the rescue robot manipulator as the optimization target,the weight of the manipulator,the weight of the motor and the reducer and the motor torque are used as the parameter variables.The multi-objective optimization algorithm of isight is used to design the rescue robot arm.The optimization problem is optimized,the design optimization experiment is carried out,the optimal solution of the rescue manipulator is obtained,and the solution is analyzed.Figure [51] table [13] references [61]...