摘要
为了解决现有履带式煤矿井下救援机器人质量偏重、机动性较差的问题,采用轮毂电机为动力,设计了一款具备检测功能的双摇臂搜救机器人。根据双摇臂履带机器人的整体结构,结合事故后井下地形和障碍物的构形特点,得出了障碍物的简化模型,采用D-H法分析了机器人的最大越障能力,利用Solidworks软件对机器人进行了建模并在Adams中进行了仿真,结果表明所设计的机器人能够实现对理论最大障碍物的跨越,验证了在保证搜救机器人越障能力的前提下,由减轻机器人重量来提高其机动能力的可能。
This article focused on solving the problem of large mass and less mobility in the existing tracked coal mine rescue robot. A robot, which had two swing arms and the ability of detecting several kinds of gas un- der the coal mine, had been designed with hub motors. Based on the structure of the robot and the feature of the terrain and the obstacles after the accident, the simplified model of the obstacles was got. The biggest obstaclecrossing ability of the robot was analyied in D-H method, the three-dimensional model of the robot was established with solidworks software and carried out simulation with Adams, the simulation results of the obstacle crossing showed that the robot could cross the highest obstacles which was theoretical. It was verified that the mobility of the rescue robot could be improved by reducing weight under the premise of guaranteeing the obstacle-crossing ability of the rescue robot.
作者
刘巍巍
王成龙
刘慧芳
LIU Wei-wei WANG Cheng-long LIU Hui-fang(School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China)
出处
《重型机械》
2016年第6期8-12,共5页
Heavy Machinery
基金
国家自然科学基金资助项目(51305277)
关键词
机器人
轮毂电机
D-H法
越障分析
robot
hub motor
D-H method
obstacle-crossing analysis
