The Optimization Of The Coordinated Workspace And The Research On Quick Coupler For Dual-arm Rescue Robot

With the frequent occurrence of global natural disasters,the rescue task has the characteristics of tight time,heavy task and high safety requirements.Now,the rescue mainly relies on manpower and traditional construction machinery,and the rescue efficiency is low,so it is urgent to develop a highly flexible and intelligent rescue robot.Based on the above requirements,aiming at a domestic dual arm rescue robot,a series of researches are carried out on its dual arm coordinated workspace and quick replacement device of end fittings.Firstly,the coordinated workspace of the dual arm rescue robot is analyzed.Based on the Denavit-Hartenberg(D-H)parameter representation method,the local coordinate system is established for the link of the manipulator,the kinematic equation of the manipulator is established,and the workspace of the manipulator is solved by Monte Carlo method,and the coordinated workspace of the dual arms of the robot is analyzed;the rescue mode of the dual arms robot is analyzed combining the working characteristics of the dual arms robot and the actual rescue conditions,aiming at establishing the theoretical basis for the evaluation of double arm coordinated workspace.Secondly,the mechanism of dual arm rescue robot is analyzed and optimized.According to the basic principle of Dynamic Programming and Quicksort,the Dynamic Quicksort is proposed.Using the matlab robotics toolbox and the parallel pool in matlab,the program design of the optimization algorithm is completed and the optimized object is optimized.Then a quick coupler attached to arm of rescue robot is designed.The quick coupler consists of two parts: the mechanical arm end and the accessory end,including four functional modules: preliminary locking,hydraulic pushing device,tolerance docking interface and hydraulic locking.For the tolerance butt joint,the homogeneous coordinate representation method is used to analyze the space geometric conditions and calculate the size of the tolerance joint;the friction self-locking theory is used to verify the mechanical friction and prove the rationality of the design.Finally,the reliability analysis of the key structure of the quick coupler attached to arm of rescue robot is carried out.Based on the theory of stress strength interference,the mathematical model of reliability analysis is established;the parametric model of key structure of quick change device is established by APDL language;the randomness of key dimension,elastic modulus and load variable is fully considered,and the reliability analysis of key structure of quick change device is carried out by ANSYS.