隧道救援用履带式机器人设计及越障性能分析

Design of crawler robot for tunnel rescue and analysis of its obstacle-climbing performance

目的:针对隧道多发事故而人工救援能力有限的情况,设计一种地面适应能力强的隧道救援用履带式机器人。方法:该机器人采用双摆臂履带式行走结构,底盘传动系统主要由履带、驱动轮、从动轮和张紧轮构成,摆臂系统由摆动轮、摆杆与摆臂履带构成。其控制系统采用高性能工控机作为主控制器,软件采用机器人操作系统(robot operating system,ROS)设计。采用经典力学理论对机器人越障过程进行动力学分析与建模,并采用机械系统动力学自动分析(automatic dynamic analysis of mechanical system,ADAMS)软件进行机器人越障动力学仿真。对机器人进行越障实验,对所建立的动力学模型与电动机性能进行验证。结果:仿真结果表明,该机器人可以稳定爬上300 mm的障碍物。越障实验表明,该机器人能爬越250 mm高的台阶障碍物,每次完成时间在10~15 s,可满足设计要求。结论:该机器人的整体机构和控制系统具有合理性与有效性,能够满足在复杂隧道环境中稳定工作的要求。

Objective To design a crawler robot for tunnel rescue to solve the problem of prone accidents in the tunnel where human ability is limited.Methods The crawler robot designed had a tracked travel mechanism with double swing arms,which had the chassis drive system composed of tracks,drive wheels,driven wheels and tensioning wheels and the swing arm system made up of swing wheels,swing rods and swing arm tracks.The control system of the robot adopted a high performance industrial computer as the main controller,and a robot operating system(ROS)was used for software design.The dynamics of the robot was analyzed and modelled using classical mechanical theory,and the dynamics simulation for obstacle-climbing was carried out with automatic dynamic analysis of mechanical system(ADAMS)software.The robot was subjected to obstacle-climbing experiments to verify the performances of the dynamics model and the motor.Results Simulation results showed that the robot could cross a 300 mm obstacle stably.Obstacle-climbing experiments found that the robot could climb over 250 mm high step obstacles within 10 to 15 s,meeting the design requirements.Conclusion The robot's overall mechanism and control system are rational and effective,and can meet the requirements for stable operation in complex tunnel environments.[Chinese Medical Equipment Journal,2021,42(12):17-22]