Dynamic simulation of joint module with MR damper for mobile rescue robot

摘要

In this paper, we have developed the dual arms manipulator of a rescue robot. This manipulator will be mounted on the mobile robot platform and, this robot will be used to perform rescue operations in extreme environments. The shock vibration occurs from the road when the robot is driving on the rugged terrain. It also adversely affects the robot as well as the rescuer. We propose the joint module utilizing MR(Magneto-Rheological) fluid in order to depress impact vibration from the environment. Also we have performed dynamic simulations on the dual arms manipulator considering vertically impact acceleration and analyzed the driving torque generated in the joint module.