轮腿式六足智能消防机器人设计研究

Design and Research of Wheel-legged Hexapod Intelligent Fire Fighting Robot

火灾发生后室内外环境变化迅速,消除人员有时很难深入现场进行抢险救援,足式机器人的地形适应能力较强,为此,文章研究轮腿式六足智能消防机器人设计方法,设置轮腿式六足机器人各腿的受力参数,根据正向运动学原理定义消防机器人的摆腿范围,完成轮腿式六足智能消防机器人的设计。以楼梯爬坡为测试条件进行对照测试,测试结果表明,该文设计的轮腿式六足机器人,整个路段的重心轨迹与楼梯轮廓一致,具有较好的稳定性。在模拟火灾环境时,对障碍路段的轨迹重建时间平均为0.04 s,符合救援应用要求。

The indoor and outdoor environment changes rapidly after the fire,so it is difficult for the eliminators to go deep into the scene for rescue,and the biped robot has stronger terrain adaptability.Therefore,this paper studies the design method of the wheel-legged hexapod intelligent fire fighting robot.Set the force parameters of each leg of the wheel-legged hexapod robot,define the swing range of the fire fighting robot according to the forward kinematics principle,and complete the design of the wheel-legged hexapod intelligent fire fighting robot.Taking the stair climbing as the test condition for comparison test,the test results show that the wheel-legged hexapod robot designed in this paper,the gravity trajectory of the whole road section is consistent with the stair contour,which has good stability.When simulating the fire environment,the average track reconstruction time for the obstacle section is 0.04 s,which meets the requirements of rescue application.