Design And Research On A Search And Rescue Robot Based On A Suspension Structure With Wheel-legs And Swing-arms

Many kinds of disasters occur frequently in the 21 st century.Various disasters have brought great harm to the construction of our country and people's life.After the disaster,it is urgent for rescue workers to search and rescue the trapped people.At present,in the field of urban post-disaster rescue,rescue operations are often full of difficulties due to the complex ground environment after the disaster.And many dangerous Spaces are not suitable for rescuers to enter directly,so a search and rescue robot that can adapt to complex terrain becomes extremely important.After summarizing the characteristics of various search and rescue robots currently available,this paper finds that the existing search and rescue robots generally have shortcomings such as flexibility,endurance ability and lack of ability to overcome obstacles.After referring to a variety of wheel-legged planetary rovers and ground unmanned vehicles,this paper designed a search and rescue robot,which is based on the wheel-legged structure.The robot can move flexibly and turn in place in the predetermined working environment--urban disaster unstructured terrain.It can cross vertical obstacles 1.5 times of wheel diameter.When bumpy road can run more smoothly;The structure is simple and the control is convenient.At the first step of designing,we designed the mechanical structure of the search and rescue robot,because it it the key part of robot,whether the search and rescue robot can achieve the predetermined movement ability.In the first part of this paper,the movement ability performance of the developed robot should be expected,and the use of 3D modeling software to establish the design of the search and rescue robot parts of the 3D model,and then the assembly of each part to get the 3D model of the robot.Then,according to the constraints of the triangle swing arm and the influence of the size of each part on the movement ability,the length and Angle of each part of the triangle swing arm are optimized to make its structure more compact and lightweight,which is suitable for the search and rescue robot designed in this paper.Finally,used the Ansys software to analyzed the structure of robot.Secondly,three typical motion states of mobile robot are selected for mathematical modeling.By modeling the motion state of the robot when climbing the maximum slope Angle,the motion state of the robot when turning at differential speed,and the quasi-static motion model of the vertical obstacle crossing process,respectively,the analysis is carried out.The relationship between the required torque of the hub motor and the ground condition and the slope Angle,the relationship between the angular velocity of each wheel and the turning radius,and the key factors affecting the maximum obstacle crossing height and the torque of the swing arm motor are obtained,which provide a theoretical basis for the later kinematics simulation.Thirdly,ADAMS is used to simulate the motion of the search and rescue robot.Through the analysis of the motion curve of the robot when moving on the bumpy road,it is proved that the suspension mechanism in the triangular swing arm is effective in reducing the fluctuation range of the fuselage's center of mass.The differential turning motion of the robot was simulated,and the turning radius and wheel speed were used to verify the ability of the robot to overcome obstacles.Finally,the vertical obstacle crossing simulation was carried out,and the obstacle 1.5 times of the wheel diameter was successfully crossed according to the set action,which proved the feasibility of the obstacle crossing attitude planned in this paper.Finally,using the existing model in the laboratory,a brief prototype is made,which verifies the feasibility of the design idea on the whole,and can provide reference for the follow-up research.