铰接式履带消防机器人的设计与研究。

Design and Research of an Articulated Tracked Firefighting Robot.

机构信息

School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China.

Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China.

出版信息

Sensors (Basel). 2022 Jul 6;22(14):5086. doi: 10.3390/s22145086.

DOI:10.3390/s22145086

PMID:35890764

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9316796/

Abstract

Aiming to improve the situation where a firefighting robot is affected by conditions of space and complex terrain, a small four-track, four-drive articulated tracked fire-extinguishing robot is designed, which can flexibly perform fire detection and fire extinguishing tasks in a narrow space and complex terrain environment. Firstly, the overall structure of the robot is established. Secondly, the mathematical model of the robot's motion is analyzed. On this basis, the kinematics simulation is carried out by using ADAMS, and the motion of the robot is analyzed when it overcomes obstacles. Finally, the prototype was produced and tested experimentally. The robot has good obstacle-surmounting ability and excellent stability, is a reasonable size, and can perform various firefighting tasks well.

摘要

为改善消防机器人受空间和复杂地形条件影响的情况，设计了一种小型四履带、四驱动铰接式履带式灭火机器人，它可以在狭窄的空间和复杂地形环境中灵活执行消防检测和灭火任务。首先，建立了机器人的整体结构。其次，分析了机器人的运动数学模型。在此基础上，利用 ADAMS 进行了运动学仿真，分析了机器人在克服障碍物时的运动情况。最后，制作了样机并进行了实验测试。机器人具有良好的越障能力和卓越的稳定性，尺寸合理，能够很好地执行各种消防任务。