Design and Simulation of Search and Rescue Robot based on Wheel-legged Rover Structure

Abstract

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.

Keywords

• Wheel-legged rover;Five wheels and four swinging arms structure;Four-bar linkage;Single arm suspension;Virtual prototype simulation