Portable Emergency Disposal Robot Body Optimization And Operation Control

With the development of science and technology in today’s society,when dealing with dangerous situations such as natural disasters and man-made disasters,fire rescue personnel entering a complex and dangerous environment are very easy to cause casualties and other problems.According to this demand,this paper will optimize a portable emergency handling robot,which can be used for rapid response to disaster rescue,replacing rescuers into dangerous environments to complete target tasks.(1)For the laboratory 33 kg portable robot as the research object,the 25 kg target lightweight design is used.According to the force of the track pulley,the material thickness of each track pulley is used as a design variable to optimize the structure of the 3D model,and the lightweight structure is obtained,and the three typical working conditions of flat straight driving,slope and slope turning are simulated based on the multibody dynamics software Recur Dyn,and the simulation results are analyzed by ANSYS for static finite element analysis,and stress and deformation are limited to the parts.Results: Through multiple iterations of the design comparison,the overall quality of the robot before and after optimization is reduced to meet the requirements of the operating characteristics.This shows that the lightweight design scheme is feasible,and the new structure is better than the original structure.(2)For the vehicle-mounted six-axis robotic arm,the spatial coordinate system transformation is analyzed firstly,the improved D-H parameter method is used to establish the connecting rod coordinate system and the forward and reverse kinematic equations of the manipulator are further derived,and then the correctness of the inverse kinematics equations is verified by MATLAB robot tools and scripts.Then,the Monte Carlo method is used to analyze the reachable working space of the robotic arm to ensure that the robotic arm operates in the working space.This paper introduces the principle and process of spatial line interpolation algorithm based on parabolic transition and spatial arc interpolation algorithm based on parabolic transition in Cartesian space,and uses MATLAB software to draw the planning diagram of spatial straight line and arc respectively.Finally,by building the software and hardware system of the entire robotic arm platform,the starting and ending posture points are taught through HBRobot software,and the entire robotic arm traction and fixing operation process is controlled by controlling the motion program.