Research And Simulation Of A Wheel-legged Rescue Robot Configuration

Nowadays,disasters occur frequently and the rescue environment is complex.Manual work can't meet the needs of rescue.Efficient and reliable rescue robot is the best assistant equipment which can't only improve the efficiency but also reduce the risk of rescue workers.Based on the research in this field this dissertation presents a 4+1 wheel-leg rescue robot which has strong environmental adaptability,large carrying capacity and workspace.Firstly,the structure of the robot is analyzed and the rationality of the structure is proved by G-K formula.The kinematics models of single leg and auxiliary arm are analyzed,and the relationship matrix between Cartesian coordinates at the end of each component and joint displacement is calculated.Simulated validation is carried out by SIMULINK,and the workspace is drawn and analyzed by simulation and numerical method.The dynamic analysis of single leg is carried out,and the joint moment and angular velocity acceleration of the end are obtained.Relational expressions.Secondly,the trajectory planning of one leg of rescue robot is studied concretely,and the trajectory planning methods are analyzed.By analyzing each method,it is concluded that the multi-segment high-order curve fitting method and the single leg structure designed in this paper are used to design the 4-4-5 segment trajectory.At the same time,the trajectory optimization problem is designed and the improved fruit fly algorithm is used to optimize the problem above.The improvement of step size and solution generation method and the MATLAB simulation experiment was carried out.The results show that the improved fruit fly algorithm is superior to the standard algorithm and the correctness of the trajectory optimization model was verified.Finally,the gait of wheel-legged rescue robot is designed,the gait design problem based on stability margin is analyzed and the wheel-legged switching strategy using assistant working arm is proposed.The steering problem of wheel walking mode is analyzed.The obstacle-crossing mode of 4+1 is studied and designed,and the gait,turning,wheel-legged switching and obstacle-crossing are simulated in ADAMS.The detailed research on wheeled-legged rescue robot in this paper has important theoretical value and practical significance,and provides sufficient theoretical basis for follow-up research.