The Simulation And Optimization Design Of Terrain High Adaptive Mobile Platform On Rescue Robot

In the face of complex and dangerous environments,the solutions of biochemical detection,post-disaster relief,strategic location protection and anti-terrorism have become very troublesome issues today.The massive investment of manpower is not a well means of solving rescue,and it's very easy to cause physical and psychological impact and reduce overall performance.To ensure the personnel safety and improve the efficiency of assisting rescue,using unmanned mobile platforms instead of manpower to enter hazardous areas for completing operational tasks has become the main means and trend.By comparing all kinds of mobile platforms,wheeled robots play a huge advantage in saving time.Even if the terrain adaptability of mobile robots is limited by certain conditions,it has the highest benefit ratio for completing the overall task.Therefore,enhancing the terrain adaptability of the wheeled robot will be the key to efficiently rescue in complex terrain environments.Based on the project indicators,this paper organically integrates mobile robot technology,suspension technology,bub-motor technology and advanced manufacture technology to design a six-wheeled mobile robot that is endued the characteristic of good maneuverability and strong terrain adaptability.Firstly,we used SolidWorks software to complete the design of overall structure program,the frame,suspension and load-space etc.Meanwhile,we calculated the power and torque to guide the battery selection,layout and power distribution design.Secondly,a type new single longitudinal arm triangular suspension structure were designed for improving the high terrain adaptability of the robot,and suspension static calculation was completed,we also used ADAMS software to carry out the suspension scale optimization.Thirdly,we used quadratic simplify method to build the simplified model and obstacle-crossing statics mathematical model,and explored to the obstacle-crossing impact principle of the parameters such as ground adhesion coefficient,tire radius and the gravity center position.The ADAMS software is used to verify the correctness of the principle to modeling simulation,and we found the superior obstacle performance of the actual robot model.At the same time,in order to further improve the crossing-obstacle ability,a method of the gravity center distribution was proposed,we mainly focused on its control principle and completed the comparative simulation experiment.Finally,we designed a lightweight suspension swing arm for improving the motion performance of the rescue robot,completed the force analysis,modal analysis and topology optimization.For the original model and improvement model,we completed the performance parameter comparison.This research has a far-reaching significance to the development of rescue robot.