Design And Simulation Experiment Research Of Tracked Rescue Robot With Manipulator

All kinds of natural disasters and accidents in life are easy to cause serious losses to people's life and property.The emergence of rescue robots can reduce the loss to a certain extent.Because of the complexity and unpredictability of the disaster scene,most rescue robots can only perform a certain kind of specific tasks in the rescue operation,which is difficult to improve the rapidity and comprehensiveness of rescue operation.Therefore,the study on an adaptive multitask rescue robot is particularly important.In this paper,based on the background of urban disaster relief,a tracked rescue robot with manipulator is designed to perform five tasks: complex environment crossing,manipulator operation,field detection,autonomous navigation and casualty transportation,which meet the needs of complex rescue operations.Firstly,a tracked rescue robot with manipulator was designed for the five tasks that the rescue robot needs to perform in the rescue operation.The robot consists of a tracked chassis with double swing arms,a centroid adjustment platform,a four-degreeof-freedom manipulator with flexible joint,a manned platform and sensor system.The tracked chassis has a strong ability to cross obstacles by attaching the swing arm to the obstacles.The centroid adjustment platform adjusts the centroid position of the robot by moving the parallel four-bar linkage back and forth,which further enhances the obstacle crossing ability of the robot.The four-degree-of-freedom manipulator installed on the platform can clear obstacles,operate valves,open doors,etc.A passive flexible joint is designed on the wrist of the manipulator to increase the flexibility of the manipulator.The manned platform enables the robot to transport the wounded.The robot carries sensors such as ordinary camera,infrared thermography,lidar and depth camera to perform environment exploration and autonomous navigation.Then,the kinematic analysis of tracked chassis and manipulator of the rescue robot has been completed respectively.Through the analysis of the position relationship between the centroid of the robot and the key edges of obstacles,the mechanism of tracked chassis crossing obstacles under different working conditions were studied.The theoretical obstacle crossing limits of the tracked chassis under various obstacles were obtained as follows: the maximum longitudinal climbing slope angle is 75.9 degrees,the maximum lateral driving angle is 64.3 degrees,the maximum climbing step height is 433 mm,the maximum crossing ditch width is 703 mm,and able to climb the stairs which meets the national standards.The kinematics model of the manipulator was established,and the workspace of the manipulator was analyzed.Taking the rotating valve as an example,the trajectory of the manipulator was planned,and the passive compliance effect of the flexible joint was evaluated.Next,the dynamic simulation experiment of the rescue robot was completed.The dynamic simulation of tracked chassis with double swing arms includes flat straight driving,flat steering,slope climbing,steps climbing,stairs climbing,ditch crossing,the wounded transporting,etc.The movement characteristics of tracked chassis under different working conditions were analyzed,the obstacle crossing ability of tracked chassis was verified,and the parameters of power system were checked.Finally,the simulation of the vehicle operation task of the tracked rescue robot with manipulator was completed.Two tasks were set up,that is,carrying objects across random roads and laying plates on ditches and crossing,which verified the rescue robot's operation ability and complex task processing capability,and analyzed its effect in practical applications.