摘要
针对煤矿井下复杂的灾后地理环境,设计了可沿顶板工字钢轨道行走的矿井信息探测机器人试验平台,以探索灾后井下信息采集。利用D-H参数法建立了信息探测机器人的运动学理论模型,并通过Pro/E建模仿真模拟了该机器人沿不同倾斜度轨道行走的运动状况。通过理论与模拟结果对比,证实了所建运动学理论模型的正确及有效性,说明了该机器人的结构设计合理,该研究对矿井灾害信息探测机器人的研发具有指导意义。
The manipulator that walks along the roof rails with three degrees of freedom designed to collect the information of underground for the complex geology condition of underground after accident. The kinematic theory model was established by D-H parameter method, the motion of robot was established and simulated on slant roadway with different angle by Pro/E software. According to contrast between theoretical and simulation results, it was demonstrated the correctness and availability of kinematic model, and it is state that the design of robot is reasonable, this research is instructive to the development of information detection manipulator in underground.
出处
《煤矿机械》
2015年第8期13-15,共3页
Coal Mine Machinery
基金
国家自然科学基金(U1261115)
高等学校博士学科点专项科研基金(20124116110003)
河南省瓦斯地质与瓦斯治理重点实验室-省部共建国家重点实验室培育基地开放基金项目(WS2012A06)
关键词
煤矿灾害
信息探测
监测机器人
D-H参数
运动学
coal mine accident
information detection
detection robot
D-H parameter
kinematics
