Abstract
To improve the ability of rescue robots to move in the complex terrain, in this paper we design the novel suspension structure and propose the corresponding method of enhancing obstacle crossing capability. Firstly, the single longitudinal arm triangular suspension (SLATS) structure for rescue robot is proposed. Secondly, we perform kinematic calculations to determine the basic parameters of the rescue robot. Thirdly, based on the structural parameters and driving conditions, we use the automatic dynamic analysis of mechanical system (ADAMS) to establish the robot model and conduct two obstacle crossing experiments. The experimental results indicate the effectiveness of the proposed method.
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Acknowledgements
This work is supported by the Science and Technology Pillar Program, Tianjin, china, under Project 16YFZCSF00590.
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Zhang, S., Zhao, X., Su, W., Wu, H., Dai, Z., Chen, Z. (2019). The Design of Suspension Mechanism and Analysis of Obstacle Ability to Rescue Robots. In: Deng, K., Yu, Z., Patnaik, S., Wang, J. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2018. Advances in Intelligent Systems and Computing, vol 856. Springer, Cham. https://doi.org/10.1007/978-3-030-00214-5_85
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DOI: https://doi.org/10.1007/978-3-030-00214-5_85
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