The Design And Research Of Anti-terrorism Explosive Robot System

The anti-terrorism blasting robot is mainly used to replace the labor.It can directly detect,eliminate and dispose of explosives at the crime scene,and can be applied to combat and rescue sites.This thesis focuses on the low carrying capacity of the anti-terrorism blasting robot,the limited working space and the detection of the crime detection field.The paper proposes two kinds of mobile platforms: planetary gear-toothed belt and double-horse-eight-footed two-degree-of-freedom rotating machinery.The arm was also analyzed by kinematics to develop a double-horse-eight-foot moving mechanism,and an ultrasonic ranging and temperature display control system based on the new integrated development environment of Arduino was developed,and experimental research is carried out.Firstly,two kinds of mobile platforms,the toothed belt type planetary wheel and the double horse eight foot link mechanism,were proposed.Among them,the planetary wheel-tooth belt type moving mechanism model mainly was introduced the basic principle of obstacle crossing and the determination of structural parameters for the purpose of vertical obstacle crossing.Based on the Adams virtual simulation experiment platform,the performance of its vertical obstacle-obstacle ability was analyzed.The double-horse-eight-foot mobileplatform adopts a single-degree-of-freedom eight-bar ten-link mechanism for each foot,the design of the link mechanism,the parameter design of the single-foot mechanism,and the overall arrangement of the foot-moving mechanism.The anti-terrorism detonation robot was used a double-horse-eight-foot moving mechanism for kinematics and dynamics analysis.The kinematics included three conditions: straight,plane circular motion and vertical obstacle crossing.The dynamics included flat ground and 35 degree slope walking.It was concluded that the mobile mechanism was designed reasonably,and the maximum power of the motor was needed to meet 331.8 W and 358 W when walking on a flat ground and a 35 degree slope.Secondly,the six-degree-of-freedom rotating manipulator body structure was designed,the geometric parameters of each component mechanism were determined,and the kinematics analysis was carried out.The homogeneous transformation matrix and D-H representation method commonly was used in the kinematics modeling of the manipulator were discussed.Virtually setting a working path to move the target from(-160 mm,410 mm,740 mm)to(-502 mm,-160 mm,362 mm),and combining MATLAB and Adams for forward kinematics and inverse Kinematics simulation.Based on the inverse kinematics simulation of MATLAB,the curve of each joint angle of 0 s-15 s process was obtained.Based on the forward kinematics simulation of Adams,the end-of-centroid displacement curve of the mechanical arm at 0 s-15 s was obtained.The simulation results were showed that the six-degree-of-freedomrotating mechanical arm was a reasonable mechanical structure and correct geometrical dimensions,capturing dangerous target objects.Subsequently,the ultrasonic ranging and temperature display detection unit based on Arduino's new integrated development environment was developed.The Arduino single-chip platform was introduced,and the classification and programmable environment of the single-chip microcomputer were introduced in detail.The principle introduction,experimental scheme design,required sensors and circuit schematics are drawn,and the programming was completed.The ultrasonic ranging and temperature detecting unit was used for the anti-terrorism detonation robot,which can feedback the external environment in real time and assist the personnel to complete the remote operation of the robot.Finally,the experimental research on the anti-terrorism blasting robot,including the double-horse octagonal moving mechanism prototype experiment,visual experiment,ultrasonic ranging experiment,temperature real-time display experiment four parts.The prototype of the double-horse-eight-foot mobile mechanism was completed,and its gantry,flat ground straight,and circular motion test can be used as a mobile platform for the anti-terrorism blasting robot.In the robot vision experiment,the Chinese characters,numbers,and English letters were detected separately,and the captured pictures were clear.In the ultrasonic testing unit experiment,the experimental data processing and analysis were carried out to verify the correctness and stability of the ultrasonic ranging detecting unit program.In the real-time temperature detection unit experiment,the experimental data processing and analysis were carried out to verify the correctness and stability of the temperature real-time detection unit program.