Obstacle Crossing Analysis And Adaptive Control Of Articulated Crawler Nuclear Emergency Robot

Nuclear emergency robot for radiation monitoring and emergency rescue is an indispensable special robot for nuclear accident disposal,which plays an important role in nuclear industry production safety and emergency treatment.In particular,the terrain of the nuclear accident disaster site is complex and unpredictable,so whether the nuclear emergency robot has good obstacle crossing ability,obstacle crossing stability and adaptability is very important.The main research contents of this paper are as follows:(1)According to the characteristics of strong radiation and unstructured terrain environment at the scene of nuclear accident,the walking system of articulated crawler nuclear emergency robot is designed,the chassis,body and driving motor of the robot are designed to prevent radiation,the overall design parameters of the robot are determined,and the model of articulated crawler nuclear emergency robot is established.(2)The space coordinate system of joint tracked nuclear emergency robot is established,and the obstacle crossing mechanism and ability of the robot are analyzed from the perspective of kinematics.The dynamic simulation model of the robot is constructed based on Recur Dyn,and the maximum obstacle climbing ability of the articulated crawler nuclear emergency robot under the working conditions of climbing steps,slope obstacles,crossing trenches and climbing stairs is studied.(3)Based on the kinematics theory,the influence law of the change of the swing arm system attitude and the position of the center of mass of the articulated crawler nuclear emergency robot on its obstacle crossing ability is analyzed.The theoretical value of obstacle crossing and the simulation experimental data are compared and analyzed to verify the accuracy of the dynamic model;According to the established robot model,the influence law of the centroid on the obstacle crossing stability of the robot is studied,and an optimization scheme to improve the obstacle crossing stability by reducing the fluctuation range of the centroid radius is proposed.The minimum value of the robot centroid radius is determined through simulation,and it is proved that the stability performance of the robot can reach the best level when the centroid radius is at the minimum value.(4)The multi driver cooperative working mode of articulated crawler nuclear emergency robot is proposed.Based on the current driving mode autonomous switching theory,the design helps to complete the adaptive control of the drive mode of the robot drive system,The simulation model of the driving system is established by using Simulink toolbox,and the joint simulation experiment with Recur Dyn is carried out to verify the feasibility of adaptive control system.It provides a reference for the study of obstacle crossing stability and adaptive control of robot in unstructured terrain of nuclear environment.