Design And Analysis Of A Light-duty Police-integrated Anti-terrorist Robot

With the development of sensing,motion control and other technologies,robot technology is gradually maturing and applied to all walks of life.Because of its small size and light weight,small robots are very suitable to be carried by combatants as armed and reconnaissance robots and used in high-risk tasks to ensure the safety of frontline personnel.According to the actual needs of the society,this paper designs,analyzes and develops a light anti-terrorism robot with the characteristics of small size and light weight,which not only has the ability of covert reconnaissance but also has the ability of fire attack.Firstly,this paper analyzes the task requirements and design requirements of today's antiterrorism operations,and puts forward a light anti-terrorism robot scheme with the same elements as the research object,such as anti-terrorism robots,small robots and armed robots,and establishes the virtual prototype model of the scheme,and completes the main design calculations of the scheme.Secondly,the main loads that the robot will be subjected to in use are analyzed,and several working conditions that need to be checked in the robot system are pointed out.The relevant finite element analysis model is established by SOLIDWORKS software and ABAQUS software,and the finite element simulation results are analyzed and summarizedThen,the finite element model of dynamic response analysis of the robot is established.By observing the change of muzzle velocity,displacement and other parameters,this paper studies the influence of worm and gear clearance on muzzle disturbance.The results show that the clearance has little effect on muzzle disturbance,and the buffer can effectively suppress muzzle disturbance.The influence of load and launch elevation angle on the final pose of robot under recoil excitation is studied,and the relationship among them is fitted by quadratic polynomial curve.The results show that with the increase of load and launch elevation angle,the final pose of robot under recoil excitation tends to decrease in quadratic curve.Finally,four working conditions when the robot climbs the step terrain are put forward,and the key problems of the main working conditions are theoretically calculated and analyzed,and the driving force conditions and gravity center position conditions of the robot passing through the step terrain are obtained.The gravity center position condition of the robot without overturning on slope terrain is analyzed and calculated,and the passing conditions of the robot under different postures on slope terrain are obtained.The prototype of the robot has been developed,and the main ground tests have been carried out.The test results show that the chassis walking mechanism,gimble transmission mechanism and trigger mechanism of the robot can work normally,and the robot can stably pass through 39 wooden surface slope terrain and 80 mm height ladder terrain.