一种轮履复合救援机器人底盘的动力学研究与优化-dynamics research and optimization of a wheel-shoe composite rescue robot chassis.docxVIP

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一种轮履复合救援机器人底盘的动力学研究与优化-dynamics research and optimization of a wheel-shoe composite rescue robot chassis.docx

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一种轮履复合救援机器人底盘的动力学研究与优化-dynamics research and optimization of a wheel-shoe composite rescue robot chassis

AbstractThe wheel-tracked rescue robot is a new type of rescue robots, which can rescue and transport the wounded at the disaster site. This robot with special structure has high maneuverability and good adaptability for the variant environment. And it has highly improved the efficiency of the rescue operation. To enhance the actual efficiency of the rescue operation, the wheel-tracked rescue robots’ chassis was designed with a special structure. But we still don’t know whether it can really improve the rescue robot’s real performance or not, so this paper analyze the dynamic performance of the rescue robot chassis in detail.In this paper, the overall structure of the rescue robot is introduced briefly, not only analyzes the key factors influencing the performance of the rescue robot chassis, but also explicit the main direction and focus of research.First of all, considering the special structure of the rescue robot and the analysis method of general stability of tracked vehicle chassis, the kinematics and the theory of multi-body dynamics modeling are combined. And by establishing the stability dynamic analysis model of the track of the variant wheel, this paper analyzed the stability of the track. This paper simulate the stability of the robot actual operation using Adams, and according to the result of analysis, we put forward the improvement for the chassis’ structure. Secondly, because of the transporting of the wounded, the safety and comfort of the wounded must be considered. And this paper established the dynamic model and simulated the ride comfort of rescue robot with the wheeled chassis. According to the analysis result, we improved the structural parameters of the chassis by designing the optimization program using MATLAB. And by modifying the model parameters, we run the simulation again. The simulation results verify the rationality of the optimization process we have designed. Finally, in order to assess the rescue robot chassis dynamics performance,