Casualty Handling Mechanism And Control

As one of the countries with frequent natural disasters in the world,China is deeply threatened by natural disasters,and natural disasters have the characteristics of sudden and highly destructive nature.Disasters are irreversible,so after a disaster occurs,assistance to the victims is the first priority.When a disaster occurs,search and rescue personnel should rush to the disaster site as soon as possible and carry out high-intensity personnel rescue in a harsh environment.The challenge for rescuers is huge,so the use of rescue robots to replace the repetitive and heavy tasks in the rescue process,greatly improve efficiency,reduce the physical exertion of rescuers,and ensure the safety of rescuers.In view of the casualty transfer process,the Shenyang Institute of Automation of the Chinese Academy of Sciences and Dalian University of Technology jointly developed a casualty handling robot for rescue.This paper mainly focuses on the research of casualty handling robots from the following aspects:(1)According to the needs of the casualty handling,the design of the handling device is carried out,the safety of the casualty and the feasibility of the movement of the mechanism are analyzed respectively,the counterweight of the experimental dummy is first carried out,the actual force of the mechanism is analyzed,and the problems encountered by the handling device in the actual movement are analyzed,and then the selection of the control unit and the scheme design and selection of the handling device are completed.(2)The robot control system is divided into the construction of hardware control system and the design of software system.(3)In order to realize the motion control of the robot,the kinematics of the robotic arm and the car body are modeled separately,and the geometric solution and analytical solution of the robotic arm are given,and the kinematic model of the robot as a whole is obtained by fusing the robotic arm and the car body,which is transformed into a seven-degree-of-freedom robot,and the inverse solution method for the seven-degree-of-freedom redundant robot is obtained according to the relationship between its end operation space and the robot joint space.(4)According to the overall kinematics of the robot,calculate the Jacobi matrix between the end of the robot and the joints,and then calculate the dynamic equation of the robot,and combine the actual data for dynamic modeling.Then,the stability model of the robot is established,and the dynamic stability judgment basis in the robot motion is given.(5)Combined with kinematics and dynamics,the robot is planned for motion.Aiming at the problems of tipping,excessive mutation of terminal acceleration,and joint shaking when the robot carries the wounded,which threatens the safety of the injured,the safety planning of the end trajectory is carried out,the optimal solution of the stability of the seven-degree-of-freedom robot is calculated through the objective function,and the appropriate filter is designed for the joint jitter problem to filter the joint movement smoothly,and finally the safe and stable motion planning algorithm of the casualty handling robot is obtained,and the code is written using MATLAB to simulate and verify the casualty handling experiment.This algorithm verification is provided for the wounded handling motion planning designed in this paper.