Design And Analysis Of Rigid-flexible Hybrid Rescue Robot

The frequent occurrence of natural disasters,terrorist activities and accidents has brought severe tests to the post disaster rescue work.The application of rescue robot can effectively improve the efficiency of rescue operation and reduce the casualties of rescuers.In this paper,aiming at the requirements of large bearing capacity,high security and unstructured terrain adaptability in the rescue and transfer task of the trapped wounded in the complex environment,a rigid flexible hybrid all terrain mobile rescue robot is proposed,and its kinematics,statics theory and simulation research are carried out,and the experimental prototype is developed.The main research contents are as follows:First of all,based on the analysis of the rescue operation process,based on the task requirements and the bionics principle,a multi arm collaborative rescue actuator is proposed,in which the rigid frame,flexible safety cushion and end drag reduction mechanism of the rigid flexible hybrid rescue manipulator are designed in detail;a wheel shoe swing arm composite rescue actuator is designed,which can store the rescue actuator in the interior All terrain mobile chassis.Secondly,based on the vector method,the kinematics analysis of the rescue manipulator mechanism is carried out,and the positive solution of its position and the Jacobian matrix of its motion are obtained.Combined with the evaluation index of the end operating point's motion trajectory,the size parameters of the rescue manipulator mechanism are optimized based on the particle swarm optimization algorithm,and the secondary optimization is carried out for a single variable.According to the constraint conditions of the rescue manipulator mechanism,based on the The workspace is drawn by Monte Carlo method,and the singularity is analyzed.Based on ADAMS,the motion simulation platform of rescue manipulator is established,which verifies the correctness of theoretical analysis.Thirdly,based on the static balance principle,the input and output force mapping relationship of the rescue arm mechanism is analyzed,and the force interaction relationship between the end of the rescue arm and the human body is studied;the mechanical simulation platform of the rescue arm mechanism is established based on ADAMS,and the optimal design parameters of the rescue arm are determined according to the calculation and simulation results;based on ANSYS In this paper,the finite element analysis of rescue manipulator is carried out in workbench,and the structural strength and stiffness performance under the ultimate load are studied;The dynamic equation of rescue manipulator is established based on Lagrange method.Finally,based on the above research,the engineering design and appearance design of the scale experiment prototype of the rigid flexible hybrid terrain mobile rescue robot are carried out,and the prototype is developed.In this paper,a rigid flexible hybrid all terrain mobile rescue robot system is designed and analyzed for the practical rescue operation,considering the bearing capacity and safety of the rescue robot and the adaptability of the complex terrain,which provides a reference for the research of rescue robot.