Kinematics analysis for obstacle-climbing performance of a rescue robot

摘要

A tracked robot is designed for destroyed mine search and rescue. The mechanical system is introduced from reconfigurable structure, suspension system and anti- explosive and waterproof. The sensors include CCD camera, CO, CH4, temperature and air speed are equipped on the robot. Two pairs of swing arms are equipped on the robot. Their motions help robot climb up obstacle. Because the center of gravity (CG) plays an important role in the process of climbing up an obstacle, the CG kinematics model is built. Using this model, the CG change situation is obtained, and the maximum height of the obstacle which can be climbed up is obtained, and the stability angle margin is obtained too. The relationship between the robot pitch angle and the height of the obstacle is obtained. Using this relationship, the geometry parameter of the uncertain environment can be known. These analysis help to design and control the robot.