Optimized design and experiment of 3-SRR leg-crawler posture-adjusted rescue robot
In this article,in order to realize the precise rescue and stable transfer of the wounded in different postures in the complex environment,efforts are made to propose a 3-SRR leg-crawler posture-adjusted rescue robot;then,it is subject to the ki-nematics analysis,optimization design,and experimental study.Firstly,based on the closed-loop vector method,the kinematics analysis is conducted on the rescue robot,and its inverse kinematics solution is obtained.Secondly,with the help of the iterative search algorithm,both the rescue workspace and the posture space are obtained;the influence of the size parameters on the rescue workspace is explored by means of the single variable method.Next,with the maximum rescue operation workspace and the stron-gest posture-adjusted ability as the objective function,the size parameters are optimized according to the differential evolution al-gorithm.Finally,a prototype is developed,and its posture-adjusted ability is subject to some experiments.The experimental results show that this scheme is feasible and the theoretical analysis is correct,thus providing reasonable solutions for disaster rescue.
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