Research on four crawler dual-arm walking mechanism of rescue vehicle

摘要

Through design and research of four crawler dual-arm walking mechanism of rescue vehicle,this paper has analyzed the obstacle navigation theory,ensure the center of mass in every working state and draw a clear relationship between working condition and design parameters of four crawler dual-arm walking mechanism's crawler.By doing research on kinetics of forward and reverse climbing over obstacle of crawler walking mechanism,designing the four crawler dual-arm walking mechanism,and then fixing parameters of the arms,the problem of climbing over obstacles underground has been solved well.Finally,the three-dimensional diagram of its elevation and swing angle relationship has been simulated using MATLAB software.