Design of Coal mine Multi-joint Snake-like Rescue Robot Based on ARM

Abstract

In order to make the coal mine snake-like robot can better perform search and rescue missions in different terrain environment, according to the characteristics of the snake like robot, a new front end actuator was designed. According to the faults of traditional snake like robot head only has sensor without actuator, The method of 4 degree of freedom is proposed as the front end effector, the hardware platform is built with ARM7-LPC2132 as the controller, L298N as the motor driving module and LCD screen 12864 as the man-machine interface. Through a wireless router WR703n Mortimer S608 camera data can be transferred to the host machine, By the wireless data transmission module the host machine can real-time control the lower machine, temperature measurement, smoke alarm, mechanical arm in addition to the barrier, which can complex terrain and a device field detection. The program is written with C and C# language. After debugging, the function of the clamping and handling of the obstacle etc. can be achieved. The wireless remote control distance can reach 100 meters, and the communication effect is stable and reliable. Introduction In recent years, coal mine disasters around the world, it is often accompanied by vigorous shaking of the ground and cracks in the ground. Make various types of buildings to collapse and damaging, making communication system disruption . Toxic and hazardous gas leaks, fires, plague, and leaks of radioactive material secondary disasters have caused the disaster, and all kinds of terrain. In the history of mankind, each disaster has brought us great damage, disaster relief work is particularly important, small and secondary disasters occurred in search-and-rescue stations, you need a flexible search and rescue equipment, to collect field data, so that we know the scene. Snake-like robot flexibility, you can work in narrow terrain such as collapsed buildings. Will make the next aid more targeted . With the rapid development of science and technology, leap in technology led to the development of intelligent, snake-like robot technology has attracted more and more attention, study of snake-like robot system has become the science of a dynamic, challenging front direction. The snake-like rescue robot using the snake’s movement, can adapt to a variety of complex terrain, especially after the earthquake, a mining disaster environment, they have many obstacles, terrain narrow, space environment hazards, risk factors such as easy to produce flammable gas, snake-like rescue robot can flexibly respond to these environments, complete the search and rescue mission, for search and rescue work to save valuable time. Mechanical Structure Design of Multi-joint of the Snake-like Robot In nature, snakes are vertebrates, its cones about 200-400 of Ridge spine, spine formation snake ball sleeve joint, and with projections, it prevents the body twist, and protect the notochord. The snake 2016 6th International Conference on Applied Science, Engineering and Technology (ICASET 2016) © 2016. The authors Published by Atlantis Press 0107 body musculoskeletal mechanics movement is very complex. In order to simplify the process, reduce costs, here the model of snake robot design consists of 9 modules, 8 joints, the simplified model is schematically shown in figure 1. And with the servos as the joints connecting piece, make its have XY plane winding motion and linear motion. Fig.1 implified model of the snake-like robot The 8 joint of the snake-like robot angle in accordance with sinusoidal approximation of change ,of which 4 joint can form an approximate sinusoidal waveform, 2 joint angle adjacent differs by 1/4 cycles. Each joint is sequentially contact and the ground, so that the snake like robot wavy forward. The movement form as shown in figure 2. 1 2 3 4 5 6 7 8 Forward