| Facing the complex post-disaster rescue environment after natural disasters,terrorist activities and accidents,it is difficult for rescuers to complete the rescue task safely and efficiently by their own ability.The application of rescue mobile platform ensures the personal safety of rescue workers and disaster victims and improves the rescue efficiency.By analyzing the movement characteristics of wheeled,crawler,legged and compound rescue mobile platforms at home and abroad are analyzed.The latter three platforms are lower than wheeled mobile platforms in terms of mechanical structure and platform control,and wheeled mobile platforms have faster moving speed,which has great advantages in the process of rescue,detection and rescue and wounded transportation.However,in the face of complex post-disaster rescue environment,the motion performance of wheeled mobile platform is limited to a great extent.Therefore,increasing the terrain adaptability of the rescue mobile platform is the key to achieve efficient search,arrival and rescue,rapid transportation and other issues.Based on the wheeled rescue mobile platform,this paper designs a single trailing arm active suspension,which can effectively improve the terrain adaptability of the rescue mobile platform,and carries out kinematics,statics and simulation research on it.The main research contents are as follows:Firstly,based on Solid Works software,the overall scheme,frame,suspension and load space of the rescue mobile platform are designed,and the mechanical structure of single trailing arm active suspension is designed in detail.Secondly,based on the principle of static balance,the force relationship between swing arms of suspension is analyzed.Then,based on ADAMS software,the mechanical simulation platform of suspension mechanism is established.According to the calculation and simulation results,the optimal parameters of electric push rod and coil spring shock absorber are determined,which provides a theoretical basis for the selection of electric push rod and coil spring shock absorber.Thirdly,the obstacle-crossing mechanism of the rescue mobile platform is analyzed,and the mechanical simulation platform of the whole mechanism of the rescue mobile platform is established based on ADAMS software,which verifies the stability of its motion performance.Finally,the finite element analysis of the upper swing arm and the lower swing arm of the suspension is carried out based on ANSYS software,and the structural strength under the limit load state and whether there is resonance phenomenon in the movement process are studied.In this paper,a wheeled mobile platform using single trailing arm active suspension is designed and analyzed on the premise of high efficiency of rescue mission and considering the lack of terrain adaptability of traditional wheeled mobile platform,which provides a reference for the research of rescue mobile platform. |
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