Design And Development Of Deformable Search And Rescue Robot Based On Bricard Connecting Rod

Natural disasters,accidents and terrorist attacks occur frequently all over the world.The persistence of disasters and the inferiority of the fire environment have brought a severe test to the search and rescue of firefighters.The emergence of search and rescue robots has greatly reduced the fire burden and casualties of rescue personnel.In this paper,according to the requirement of search and rescue robot crossing many kinds of terrain obstacles safely and effectively,a kind of deformable search and rescue robot based on Bricard connecting rod is designed,its kinematics,dynamics theory and simulation are studied,and a prototype is developed.the main contents of this paper are as follows:First of all,according to the actual requirements of search and rescue mission,the design concept of deformable search and rescue robot is put forward,and a deformable search and rescue robot based on Bricard connecting rod is designed.Including considering the bar volume and joint connection,the variation and optimization of the Bricard connecting rod,the detailed design of the joint and the end wheel,the system design of the deformable obstacle wheel,and the design of the drive control conversion mechanism of the deformable search and rescue robot to reduce the use of power source.Secondly,the deformation kinematics model of the deformable search and rescue robot is established,and the relationship between the motor input of the robot and the end of the robot is studied,and the deformation characteristics of the search and rescue robot are simulated with Solidworks and ADAMS to verify the accuracy of the theoretical results and analyze the characteristics of the position trajectory and velocity curve of the deformation.Thirdly,the obstacle crossing strategy of the deformable search and rescue robot is expounded,the dynamic model of the robot is established,the change of motor torque in the process of obstacle crossing is analyzed,the kinematics model of robot obstacle avoidance is established,and the output mode of motor is analyzed.The simulation study of the robot obstacle crossing process is carried out with Solidworks and ADAMS to verify the accuracy of the theoretical analysis results and analyze the smoothness of the obstacle trajectory.The stability cone model of search and rescue robot is established,and the stability of robot climbing is studied.Finally,the control strategy of the whole deformable search and rescue robot is constructed,and based on the above research,the engineering design of the whole machine is carried out,the components of the experimental prototype are selected,and the assembly of the whole machine is completed.Finally,the stair climbing experiment was carried out by using the principle prototype.In this paper,considering the adaptability of search and rescue robot to complex terrain,a deformable search and rescue robot based on Bricard connecting rod is designed and developed,which provides a reference for the research of obstacle performance of search and rescue robot.