The design of eight degrees of freedom rescue cutting robot system on vehicle

Research and complete an eight degrees of freedom rescue cutting robot on Vehicle. This robot is loaded in finite space of vehicle, it can carry all kinds of cutting operation mechanisms, and do the sudden special cutting job correspond to the field conditions. It use aircraft aluminum as its body material, each arm length is decreasing with a low extent from apex to base, under the situation to assure its stability, its body weight is light and work range is wide, and with small volume after folding and restoration, so it has little affect on vehicle weight and cubage. The key problem is its stiffness, the simulation test result show that this robot system has good mechanical properties. It can carry all kinds of cutting operation mechanisms and do the cutting job in special field environment. By using the optimal path searching algorithm based on topology tree structure, supplementing with increment type PID control, it can automatically generate optimal path to do the job according to the target task. Loading sensors in each joint of robot, it can avoid colliding with the unknown obstacle in dynamic space automatically. Adding a redundant degree of freedom, it can keep the operation trajectory of the mechanical wrist following the optimal path when the manipulation arm prevent colliding the obstacle.