基于触觉传感的蛇形搜救机器人的设计与开发  

Design and Development of Search and Rescue Snake Robot Based on Tactile Sensing

作　　者：刘健 王增增 李帅[2] 王若楠 刘文君 刘子铭 田景润 Liu Jian;Wang Zengzeng;Li Shuai;Wang Ruonan;Liu Wenjun;Liu Ziming;Tian Jingrun(Center of Engineering Practice Training,Tiangong University,Tianjin 300387,China;School of Software,Tiangong University,Tianjin 300387,China;School of Economics and Management,Tiangong University,Tianjin 300387,China;School of Computer Science and Technology,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学工程教学实习训练中心,天津300387 [2]天津工业大学软件学院,天津300387 [3]天津工业大学经济与管理学院,天津300387 [4]天津工业大学计算机科学与技术学院,天津300387

出　　处：《机电工程技术》2023年第11期113-116,共4页Mechanical & Electrical Engineering Technology

基　　金：天津市大学生创新训练计划项目(202210058057)。

摘　　要：将机器人应用于灾后救援领域可以在提高搜救效率的同时降低对救援人员的安全威胁,为了解决目前搜救机器人灵活性不足、不能适应复杂路况等问题,设计了一款新型的蛇形搜救机器人。该机器人依据蛇的身体结构进行机械设计,并借助蛇形机器人运动模型等基础知识,通过MATLAB和PyCharm编程软件进行设计。首先,建立了该机器人的运动模型;其次,对该机器人的机械结构进行了介绍;然后,建立了控制系统并提出了相应的移动控制策略;最后,通过实验来测试该机器人的移动能力以及信息采集效果。结果表明:机器人可以借助触觉传感以及有效的运动步态实现了适应灾后复杂地形的功能要求。与传统的搜救机器人相比,该机器人具有适应能力强,搜救范围广和系统可靠性高等特点,且其可以为幸存者输送救援物资以提高营救成功率。The application of robots in the field of post-disaster rescue can improve the efficiency of search and rescue while reducing the security threat to rescuers.To solve the problems of insufficient flexibility and inability to adapt to complex road conditions,a new snake robot is designed.The robot is designed according to the basic knowledge of the snake robot body structure and motion model,using Matlab and PyCharm software.First,the motion model of the robot is established.Second,the mechanical structure of the robot is introduced.Then,the control system is established and the corresponding mobile control strategy is proposed.Finally,the mobile ability and information acquisition effect of the robot are tested by experiments.The results show that the robot can realize the functional requirements of adapting to the complex terrain after the disaster by means of tactile sensing and effective motion gait.Compared with the traditional search and rescue robot,the robot has the characteristics of strong adaptability,wide search and rescue range and high system reliability.In addition,the robot can transport rescue materials for survivors to improve the success rate of rescue.

关 键 词：蛇形机器人 机械设计 灾后救援 运动模型 触觉传感 

分 类 号：G642.44[文化科学—高等教育学]