轮式搜救机器人地形自适应机构设计及越障性能分析

Terrain adaptive mechanism design and obstacle-surmounting performanceanalysis of wheeled search and rescue robot

针对复杂地形环境下搜救机器人越障性能的要求,设计了一种轮式搜救机器人的被动地形自适应机构,并对其越障性能进行了分析。首先,在分析传统越障机构的基础上,开展了地形自适应机构的选型,并结合遗传算法对其进行优化,完成了对轮式搜救机器人被动地形自适应机构的设计。然后,基于达朗贝尔原理建立了轮式搜救机器人的动力学模型,并对其越障能力进行了分析与计算。最后,建立轮式搜救机器人的多刚体动力学模型,开展了越障性能仿真,并与理论计算结果进行了对比。对比结果验证了轮式搜救机器人的越障及地形自适应能力。研究结果可为轮式搜救机器人样机的搭建及后续研究的开展提供理论依据。

Aiming at the requirements of obstacle-surmounting performance of search and rescue robots in complex terrain environment,a passive terrain adaptive mechanism for wheeled search and rescue robot is designed,and its obstacle-surmounting performance is analyzed.Firstly,based on the analysis of traditional obstacle-surmounting mechanism,the terrain adaptive mechanism was selected and optimized by genetic algorithm,so that the design of passive terrain adaptive mechanism for wheeled search and rescue robot was completed.Then,the dynamics model of wheeled search and rescue robot was established based on the D'Alembert principle,and its obstacle-surmounting ability was analyzed and calculated.Finally,a multi-rigid-body dynamics model of wheeled search and rescue robot was established,and its obstacle-surmounting performance simulation was carried out and compared with the theoretical calculation results.The comparison results verified the ability of obstacle-surmounting and terrain adaptation of the wheeled search and rescue robot.The research results can provide a theoretical basis for the prototype construction and subsequent research of wheeled search and rescue robots.