面向地震救援的被动变形灾害信息采集机器人系统研究-机械工程专业毕业论文.docxVIP

万方数据 万方数据 Dissertation Submitted to Hebei University of Technology for The Master Degree of Mechanical Engineering STUDY ON THE SYSTEM OF PASSIVE DEFORMATION DISASTER IMFORMATION ACQUISITION ROBOT FOR THE EARTHQUAKE RESCUE by Xing Mengzhe Supervisor: Prof. Zhang Minglu April 2015 This work supported by the Hi-tech Research and Development Program of China. No. 2012AA041508. 河北工业大学硕士学位论文 摘 要 近年来地震灾害给国家造成了重大的经济损失和人员伤亡。地震发生后，及时 获取灾害信息是提高“黄金 72 小时”救援效率、降低人员伤亡的重要保障。应用机 器人技术可实现对震后搜救人员难以或无法进入的灾害现场进行信息搜集，第一时 间为救援指挥中心提供决策信息。本文在国家“863”计划项目“面向突发事件的应 急处理机器人研究开发与应用”的支持下，对被动变形地震灾害信息采集机器人系 统进行了研究。 本文的创新性成果如下： 1.对地震灾害信息采集机器人的功能需求进行了分析，提出了一种被动变形履 带驱动机构和弧形摆臂机构，并对被动自适应机理进行了研究。 2.基于模块化设计思想，设计了信息采集及救援模块，完成了移动平台设计和 系统集成设计。 3. 建立了机器人运动学模型，对机器人翻越凸台和沟槽进行了运动规划，分析 了机器人翻越典型障碍物斜坡、凸台、沟槽的能力。 4. 完成了机器人控制系统的软硬件设计，在此基础上，对机器人车体控制和远 程监控进行了研究。 5. 研制了一台被动变形地震灾害信息采集机器人，对机器人的运动性能和信息 采集传输功能进行了测试，验证了被动变形地震灾害信息采集机器人的性能指标。 关键字：地震救援机器人 灾害信息采集 被动变形机构 模块化设计 I 面向地震救援的被动变形灾害信息采集机器人系统研究 ABSTRACT Earthquake disasters have inflicted significant economic losses and casualties for our country in recent years. How to obtain disaster information in time is an important guarantee for improving rescue efficiency in the golden 72 hours and reducing the casualties. Applying the robot technology can collect information in the disaster site where rescuers are difficult or inaccessible to enter and provide decision information for rescue command center for the first time. Supported by the National High Technology Research and Development Program of China- research and application of robot for emergency , the thesis researches on the system of passive deformation and disaster information acquisition robot on the earthquake rescue. The main innovations of this paper are: The functional requirements of information acquisition robot on the earthquake rescue are analyzed. A kind of passive deformation track driving mechanism and arc swing arm mechanism are put forward. The realization mechanism of pass