Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure
After the occurrence of natural disasters or accidents， robots are often needed to go deeply into the disaster site to find out the situation or provide assistance. The structure of wheel-legged planetary probe robot is successfully applied by reference， for the special unstructured terrain of the p...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.008 |
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| _version_ | 1841548830458249216 |
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| author | Jianhua Zhai Yongqian Wang Xiaohua Wei Weidong Ma Yichao Wang |
| author_facet | Jianhua Zhai Yongqian Wang Xiaohua Wei Weidong Ma Yichao Wang |
| author_sort | Jianhua Zhai |
| collection | DOAJ |
| description | After the occurrence of natural disasters or accidents， robots are often needed to go deeply into the disaster site to find out the situation or provide assistance. The structure of wheel-legged planetary probe robot is successfully applied by reference， for the special unstructured terrain of the post-disaster site， a new search and rescue robot with five wheels and four swinging arms is designed for the special unstructured terrain in the disaster site. Through the parameter design and statics analysis of the key components， the rationality of static feature is verified， and the mathematically modeling of process of obstacle crossing is carried out， the factors that affect the height of the robot obstacle surmounting are obtained. Then the virtual prototype simulation is carried out to verify the rationality of the dynamic characteristics and the correctness of the mathematical modeling. Finally， an experimental platform is built to verify the obstacle surmounting ability of the designed robot， which provides a theoretical basis for the design of similar wheeled robots in the future and has a certain reference significance. |
| format | Article |
| id | doaj-art-67bad713fc5c439d8105c0e4267dbfbd |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-67bad713fc5c439d8105c0e4267dbfbd2025-01-10T13:59:46ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-02-0146485430482490Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover StructureJianhua ZhaiYongqian WangXiaohua WeiWeidong MaYichao WangAfter the occurrence of natural disasters or accidents， robots are often needed to go deeply into the disaster site to find out the situation or provide assistance. The structure of wheel-legged planetary probe robot is successfully applied by reference， for the special unstructured terrain of the post-disaster site， a new search and rescue robot with five wheels and four swinging arms is designed for the special unstructured terrain in the disaster site. Through the parameter design and statics analysis of the key components， the rationality of static feature is verified， and the mathematically modeling of process of obstacle crossing is carried out， the factors that affect the height of the robot obstacle surmounting are obtained. Then the virtual prototype simulation is carried out to verify the rationality of the dynamic characteristics and the correctness of the mathematical modeling. Finally， an experimental platform is built to verify the obstacle surmounting ability of the designed robot， which provides a theoretical basis for the design of similar wheeled robots in the future and has a certain reference significance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.008Wheel-legged roverFive wheels and four swinging arms structureFour-bar linkageSingle arm suspensionVirtual prototype simulation |
| spellingShingle | Jianhua Zhai Yongqian Wang Xiaohua Wei Weidong Ma Yichao Wang Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure Jixie chuandong Wheel-legged rover Five wheels and four swinging arms structure Four-bar linkage Single arm suspension Virtual prototype simulation |
| title | Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure |
| title_full | Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure |
| title_fullStr | Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure |
| title_full_unstemmed | Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure |
| title_short | Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure |
| title_sort | design and simulation of search and rescue robot based on wheel legged rover structure |
| topic | Wheel-legged rover Five wheels and four swinging arms structure Four-bar linkage Single arm suspension Virtual prototype simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.008 |
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