Transfer matrix method for multi-body systems dynamics modeling of rescue robot

Based on the complicated and dangerous disaster scenarios which are instructed and unknown, this paper studied the problems existed in rescue robots currently. To prevent the rescue workers from being hurt in the dangerous disaster scene, this paper designed a rescue robot in conception to replace rescue workers. It is equipped with an arm to identify the injured and a cabin to carry the wounded back to the safety. Specifically, we analyzed and designed the arm. Rescue robots are demanded high moving ability and have been proved that they are capable of performing real-time movement based on the control method of dynamics. Now from the perspective of the theory of multi-body dynamics, we proposed transfer matrix method based on multi-body systems to establish the overall dynamical model of the arm and the mobile mechanism of the rescue robot, and to solve the positive and inverse dynamics solutions.