The Kinematics and Dynamics Analysis of Rescue Robot Based on Adams and Matlab Simulation

Abstract

The rescue robot adaptive to tough terrain is in great demand. The robot can be summarized as wheeled, tracked, legged and hybrid robot. In this paper, a hybrid robot is proposed to satisfy the rugged terrain with obstacles. The triple-legged wheel unit designed for the robot is introduced, which can work in two modes in a simple mechanism. A mechanical structure of the unit is shown and the kinematics of it is studied. With an emphasis of the dynamics of the robot, the peak torque needed is calculated. The simulations in Adams and Matlab show that the robot is able to negotiate obstacle that inaccessible to wheeled robot. The angular velocities and torques of traction input shaft is analyzed to obtain the maximal torque demanded, which is similar to the calculation. Additionally, the selected drive system is sufficient to power the robot. The robot can vary its modes of motion smoothly and automatically, allowing it to adapt to tough terrain with obstacles. This releases the burden of the complex sensors to detect the terrain.