Design And Motion Simulation Of The Fire Extinguisher Detection Robot

Fire extinguishing performance is one of the important properties of fire extinguishers,using robot to detect the fire extinguishing performance of fire extinguishers can decrease the labor intensity and promote the productivity,accuracy and safety,the development of fire extinguisher detection robot has a certain practical value.Firstly,the composition of the fire extinguisher detection robot is researched,and the3 D model of the robot is drawn.According to the specifications and sizes of various fire extinguishers,the clamping and switching mechanism of the fire extinguisher is designed.According to the speed curve and load of the mobile car,the physical construction and the transmission mode of the car are defined,and the schematic excogitation of the fire extinguisher detection robot is done.The Modified D-H parametric approach is taken advantage to construct the linkage coordinate system of the detection robot with special position and gesture,which can derive the kinematics equation.The mode is proved and the cloud image of workspace is found the settlement by the Robotics Toolbox in MATLAB.Secondly,ADAMS is used to analyze the motion of the detection robot.The torques that drive each joint of the robot and the car are simulated,so as to prove the fitness of the driving system selection.The point driving is used to make the detection robot move according to the driving function,and the curve of angle related parameters with time is obtained,which shows that the detection robot functions stably when fire fighting.Finally,the key components of the robot are simulated statically and dynamically by ANSYS Workbench,which verifies the mechanical performance of the robot and supplies the reference for the optimization of the car.Due to the bad fire-fighting environment,it is necessary to wear robot protective clothing.In this dissertation,the excogitation of the fire extinguisher detection robot system is done,and the motion calculation,trajectory planning and reliability analysis of the robot's key components are executed.The results show that the fire extinguisher detection robot can complete the fire extinguishing performance detection task of fire extinguishers,which can supply a reference for the devise of this kind of robots.