Research On Design And Control Of Portable Modular Search And Rescue Robot

As a special robot,search and rescue robot can assist rescuers to carry out search and rescue activities,replace rescuers to enter dangerous environment,search and detect signs of life and obtain disaster environmental information,improve the rescue efficiency and safety of rescue operations,and has important research significance and engineering application value.In this paper,aiming at the shortcomings of current search and rescue robots such as poor environmental adaptability,low search and rescue efficiency,large occupying volume and inconvenient carrying,a portable modular search and rescue robot platform with high efficiency and compact structure is developed,which is suitable for a single person carrying,The specific research work is as follows:1)Structural design of portable modular search and rescue robot.Based on the modularization and quick-change design idea of the walking mechanism,combined with the steel ball locking principle,a quick locking and unlocking device with variable radial action size is designed.On the basis of the quick-change device,the structural design is based on the cushioning and shock absorption of the wheels,the obstacles of the track,the stability of the movement of the curved legs,and the unified quick-change interface of the walking mechanism.After completing the structural design of the robot body and modeling and assembly of the whole machine,a three-dimensional structural model of the portable modular search and rescue robot was obtained.2)Analysis of multi-mode motion characteristics of portable modular search and rescue robot The kinematics models of the robot wheel and track modes are established,the common gait in the curved leg mode is analyzed,and the diagonal gait kinematics models of different leg types of the robot are established.Based on the Lagrange equation,the dynamic model of the robot wheel and track mode is established,and the torques of the standing process and diagonal gait of the different leg types of the robot curved leg mode are compared and analyzed.Based on the gravity center projection method and the overturning angle,the stability of the robot in the curved leg mode is analyzed,and the stability conditions of the robot's static and dynamic gait are obtained,which provides a theoretical basis for the stability control of the curved leg robot.3)Research on multi-mode motion control of portable modular search and rescue robot.A multi-mode motion control architecture based on the combination of model control and CPG bionic control,According to the movement characteristics of the curved legs,a fully connected and coupled CPG control network model is constructed using the improved HOPF oscillator model,The triangular mapping function is used to convert the CPG network output signal to the robot joint control signal,and the MATLAB / Simulink model simulation shows that changing the gait duty cycle,phase difference and gait period can achieve fast and smooth switching of the robot's asynchronous state and speed.The robot bottom controller based on cascade PID is designed.4)Development of portable modular search and rescue robot platform and experimental research on prototype.The robot motion control system and the manmachine interactive interface software are designed,and the robot prototype construction and multi-mode motion performance experiment are completed.The experimental results verify the correctness of the robot structure design,motion characteristics analysis and multi-mode motion control theory,provide an effective solution for the design of related robots,and provide a useful reference for the design and control of other mobile robots.