Structure Design And Analysis Of Two-arm Rescue Robot

China is one of the countries with frequent earthquake disasters in the world.Earthquake disaster with its sudden,destructive,serious and secondary disaster diversity characteristics,serious threat to human life and property safety.In the 72 hours after the earthquake,the survival rate of those trapped in the earthquake gradually decreases with the passage of time.Because the earthquake ruins environment has a wide range,the disaster area is large,casualties are uncertain and secondary disasters are frequent characteristics,so the earthquake rescue has time emergency,rescue difficulty and other characteristics.With the progress and development of science and technology,the rescue robot which can be used in earthquake rescue has appeared.Earthquake rescue robot has been widely recognized for its continuous performance of rescue tasks,which can take the place of rescue personnel to go deep into the dangerous environment,and can carry corresponding tools to go deep into the debris environment for rescue.However,the rescue robot is still affected by the earthquake debris environment,the operation mode does not match the rescue needs,the rescue efficiency is not ideal and so on.The Shenyang Institute of Automation,Chinese Academy of Sciences and The Beijing Institute of Technology have jointly developed a dual-arm rescue robot that can replace the traditional manual transfer method to safely remove the injured in partially collapsed buildings after earthquakes.The key research contents of this paper on dual-arm rescue robot are as follows:(1)In view of the extremely harsh rescue environment after the earthquake,to ensure that the rescue robot can successfully pass through obstacles,stairs,etc.,a two-wheeled two-legged crawler mobile mechanism is designed as a mobile platform for the dual-arm rescue robot.(2)For the rescue robot to "pick up" the wounded during the rescue mission,the reasonable manipulator configuration,the motion trajectory and velocity acceleration of each joint of the manipulator under joint space are planned.(3)The correlation analysis of the motion force generated by the robotic arm "holding the person" during the rescue mission of the rescue robot was carried out to obtain the driving torque required by each joint through a series of movements and optimize the movement process of the robot.(4)A reasonable human-computer interaction interface is designed for the actual control of rescue robot.