MOTION REALIZATION OF A SMALL DIAMETER DEEP WELL RESCUE ROBOT BASED ON ADAMS-MATLAB CO-SIMULATION

A small diameter deep well rescue robot is proposed in this work to address issues including special well conditions and the difficulty of small diameter deep well rescue. In order to achieve efficient rescue, combined with small diameter deep wells, establish an efficient smart small caliber deep well rescue robot. A virtual prototype model of the mechanism is established using the 3D design software SOLIDWORKS. Based on the principle of PD automatic control, the joint control of ADAMS and MATLAB is carried out. The control function of each driver is set, along with the input and output variables, and a joint control file is generated. The PD automatic control code is compiled in MATLAB software, and a Simulink simulation control block diagram is designed. The entire rescue process is then simulated, and the change track of the output variable is obtained. The results show that the rescue robot can detect the position of a person who has fallen into a well. By rotating the manipulator, the robot can reach the ideal grasping position. Facilitated by the grasp of the manipulator and the secondary protection of the bracket mechanism, the rescue robot can then complete the deep well rescue work. © 2022, Cefin Publishing House. All rights reserved.