Research on the Design Methodology and Performance Analysis of a Combined Robot within the Context of ROBOTAC Competition

This paper designs and manufactures a combined robot for the ROBOTAC competition based on mechanical principles and control principles. The robot consists of a base robot and a biomimetic crawling robot. It adopts direct current motors to drive mecanum wheels for rapid movement, and the launching device uses pneumatic components. Through the analysis and calculation of the state equations of each chamber of the cylinder, the piston motion equation, etc., relevant parameters are determined, and a mechanical structure equipped with a lifting coupling mechanism, a locking mechanism and a fire-kindling launching mechanism is designed. The hardware adopts a modular design, with the Infineon automotive-grade single-chip microcomputer TC297 as the main control unit, and the $\mathbf{C}$ language programming is used to realize the control function. In the competition, the success rate of the robot in retrieving firekindlings reached 100%. Cooperating with other robots, it won the second prize in the national competition, which verified the effectiveness of the design and provided a reference example for the teaching of robot-related majors in colleges and universities and the cultivation of innovative talents.