薄煤层工作面巡检机器人行走机构设计及越障分析

针对薄煤层综采工作面空间狭窄、地形复杂多变的环境，设计了一种结构紧凑、越障能力强的四摇臂履带式移动机器人。基于机器人质心位置分布，对无摇臂支撑越障和有摇臂支撑越障两种状态下的最大越障高度进行了优化，有摇臂支撑越障时，机器人最大越障高度为232.91 mm，满足了设计要求。通过机器人越障过程的虚拟仿真，得到了越障过程中驱动电机输出力矩的变化规律，为电机合理选型提供参考。最后对行走机构试验样机进行了越障性能试验，结果表明，该结构机器人具有较强的越障性能和地形适应能力，可满足煤矿井下薄煤层工作面特殊环境的要求。

Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face

Because the thin coal seam working face is narrow and complicated,a compact crawler robot with four rockers is designed,which has high capability of obstacle-crossing. According to the robot centroid position,the obstacle-crossing maximum heights of the robot with rockers and the robot without rockers are both optimized. The obstacle-crossing maximum height of the robot with rockers is 232.91 mm,which can meet the design requirements. The obstacle-crossing processes are virtually simulated in ADAMS,and the change rule of the drive motor output torque is analyzed for reasonable motor selection. Finally,the experimental walking mechanism prototype is tested for obstacle-crossing. The results have shown that this structure robot has high obstacle crossing capability and high adaptability,which can meet the special requirements of the thin coal seam working face.