基于仿蟹刚柔耦合机构的搜救机器人设计

Design of a search and rescue robot with crab-inspired rigid-flexible coupling mechanisms

搜救机器人是重要的探测仪器平台。针对现有搜救机器人的刚性结构环境适应性差的问题,本文提出一种基于仿蟹刚柔耦合机构的搜救机器人设计方法。本文首先进行了机器人的机构设计;其次根据螃蟹运动实验结果设计了机器人的横向运动步态,并通过仿真验证了步态设计的可行性;再次设计了机器人的软硬件系统;最后对机器人在多种地形下的行走能力进行了实验测试,并开展了暗光环境适应性、人员探测和避障能力等功能测试实验。结果表明,该体积小巧、控制简单的机器人可以实现基本的运动功能,横向运动中最大速度约为3.4 cm/s,最小功耗约为8.6 W,转向运动的角度范围为±90°。机器人具有良好的地形和环境适应性,并可以完成环境感知和人员探测等搜救功能。

Search and rescue robots are important detection instrument platforms.To address the poor environmental adaptability of existing rigid-structured search and rescue robots,a design method for the search and rescue robot with crab-inspired rigid-flexible coupling mechanisms is proposed in this article.Firstly,the robot mechanisms are designed.Secondly,the lateral motion gaits of the robot are designed based on crab motion experiments,and the feasibility of the gait design is verified through simulations.Thirdly,the software and hardware systems of the robot are designed.Finally,experiments are implemented on the robot′s walking ability on multiple terrains.Moreover,tests of functions,including dark light environment adaptability,human detection,and obstacle avoidance capabilities,are carried out.The results show that this small-sized robot with simple control can realize basic motion functions,the maximum velocity and the minimum power consumption of the robot during the lateral motion is about 3.4 cm/s and 8.6 W,and the angle range of the turning motion is±90°.Furthermore,the robot adapts well to different terrains and environments and can complete search and rescue functions like environment perception and human detection.