Research On Rescue Mobile Robot Walking Device

Earthquake rescue work is urgent,dangerous and complicated,so the mobile robot walking device for disaster relief has high requirements.As far as the current mobile robots for disaster relief are concerned,for such a dangerous and complicated environment after the disaster,the lack of a stable control system and good mobile stability cannot meet the needs of Chinese earthquake relief material transportation.Aiming at the complicated and dangerous environment after the disaster,the mobile robot is required to have strong walking dynamic performance,good economic performance,stable device control,and anti-rollover resistance to aftershocks.This paper develops a wheeled mobile robot walking device for transportation of earthquake relief materials.According to the related literatures of the wheeled mobile robot walking device,the walking power transmission is designed.During the design of power performance,economic performance,and transmission smoothness performance,according to the application requirements of mobile robots for field disaster relief,VB programming software was used to calculate the dynamic performance,economical efficiency,and transmission smoothness of wheeled robots to obtain a variety of similar walking powers.Performance parameter scheme.Establish a multi-objective,multi-level evaluation index system for the mobile robot's walking dynamic performance scheme,and use the Topsis analysis method to optimize the mobile robot's maximum climb,maximum speed,and fastest acceleration time,thereby optimizing the mobile robot's dynamic and economic performance.Based on the Topsis analysis method,the mobile power transmission parameters of the mobile robot are optimized,and then the device control research and analysis are performed.Carsim is used to build the mobile robot walking dynamics model,including theoverall model,suspension model,tire model,transmission model,and brake model.Simulink is used to build the motor device model and the wheel steering device model.Aiming at the problem of poor lateral stability of the wheeled mobile robot walking device,a PID closed-loop control system is introduced.The mobile robot walking device controls its own motor speed,vehicle speed and Wheel corner.According to the interface parameter settings of Carsim and Simulink,the signal transmission of the wheeled mobile robot walking power transmission system model,motor device model and steering device model is realized,and then the wheeled mobile robot Carsim/Simulink walking device joint simulation is realized.The results of the double-shift experiments and the steady-state gyration experiments show that the stability of the disaster-relief mobile robot walking device under the joint simulation is higher than that of the traditional mobile robot,and that the time of extreme unstable working conditions is later than the traditional mobile robot.Finally,the lateral stability and extreme working condition stability of the mobile device of the disaster relief mobile robot are optimized,which effectively solves the problem of instability and even rollover of the material transportation of the disaster relief mobile robot in the wild and when the road conditions are complicated.This article designs a material transportation disaster relief wheeled mobile robot walking device,and uses Topsis analysis method to optimize its walking dynamic performance parameters.According to the optimized parameters,a Carsim/Simulink joint simulation walking device model is built,and a PID control system is added to optimize its lateral stability,which has certain application value for the material transportation after the earthquake.