Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Abstract

A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

Sistem Robot Penyelamat Menggunakan Metode Deteksi Viola-Jones untuk Membantu Tim Penyelamat Menemukan Korban Bencana

“…Robot dikendalikan dengan Mikrokontroler dan akan dijalankan melihat gambaran di sekitar dengan video dari kamera yang terpasang pada robot. Dengan sistem robot ini maka dapat menjadi alat yang efisien untuk mempercepat operasi pencarian korban [5,6,7]. Setelah mendapatkan warna kulit, selanjutnya adalah melakukan proses pembelajaran klasifikasi.…”

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

“…When the motor drives, two V-shaped links to extend, and the rolling wheels are switched from the wheel type state to the V-shaped leg type state. Ning et al (2017) designed a wheel-leg rescue robot with double semi-circular arc hub structure. If the semicircular wheel hub is closed, the robot is in wheel motion mode.…”

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

“…The optimized Rocker‐Bogie mechanism (D. Kim et al, 2012) uses the front bogie lifting the front wheels to achieve the stair height. TurboQuad (Lin et al, 2017), Turbo‐Leg compound robot (Zhou et al, 2019), LDR (Bai et al, 2018), and Turbo‐Leg robot (Ning et al, 2017; Sun et al, 2017) use linkages to turn wheels into legs to climb steps or stairs. The parallel robot designed by Li et al (2018) connected the wheels through the bars into a closed loop, which “multi‐wheel‐bar connection” fragments step‐climbing motion into simple repetitive action.…”