Research And System Design Of Deformable Walking Mechanism Of Rescue Robot

For the complex unstructured environment under the disaster after the disaster,the existing rescue robots generally have the problem of poor adaptability to the terrain of the catastrophe roadway.In response to the above problems,the purpose of improving the adaptability of the mine rescue robot to the terrain of the catastrophe roadway is Designed and implemented a mine rescue robot with a deformable walking mechanism.When the wheel diameter is the smallest,it can pass through a slit that is slightly larger than the wheel diameter.When the wheel diameter is the largest,it can be used to overcome higher obstacles.Finally,the downhole situation is fed back to the operator and a small amount of first aid items can be carried on the robot bodyFirst of all,the advantages and disadvantages of domestic and foreign rescue robots and the development status of rescue robots at home and abroad are analyzed and enumerated.The inventor 3D modeling software was used to model and assemble each part of the robot,and the number of connecting rod groups was determined by analyzing the impact of the number of connecting rod groups in the walking mechanism on the robot's obstacle crossing performance and the motor drive.Secondly,on the basis of the modeled robot,the kinematics and dynamic model of the robot and the analysis of the obstacle surmounting ability of the robot are established,and the ADAMS simulation software is used to establish the robot under the wheel radius minimum and maximum limit states The corresponding simulation model was used to simulate the model.The simulation results show that the robot meets the expected requirements and verifies the correctness of the robot's kinematics and dynamics model.The limit obstacle height of the robot is simulated,and the limit torque of the motor at the limit obstacle height is obtained.Finally,each part of the robot was printed and assembled by a 3D printer to complete the 3D printed model of the robot.The robot hardware system is selected for the purpose of completing the robot's various tasks,and the software system of the robot is coded according to the information provided by the manufacturer,and the prototype model of the robot is finally completed.Based on the experimental prototype,the robot performs straight-line walking experiments under different road conditions,climbing experiments at different angles,robot obstacle-crossing experiments,and robot in-situ steering experiments.According to the experimental results,the prototype developed in this paper meets the design requirements and has good performance.Finally,a brief summary of this paper is given,and the future research prospects of robots are prospected from the aspects of robot mechanical structure and control system.The paper has 89 pictures,3 tables,and 64 references.