| 履带式煤矿救援机器人越障能力的运动学分析 |
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| 引用本文： | 王松涛,朱华. 履带式煤矿救援机器人越障能力的运动学分析[J]. 矿山机械, 2012, 0(8): 97-100 |
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| 作者姓名： | 王松涛 朱华 |
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| 作者单位： | 中国矿业大学 |
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| 基金项目： | 江苏省科技支撑计划项目(BE2010045);江苏省“六大人才计划”(2009年第6批)资助项目 |
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| 摘 要： | 针对履带式机器人越障时的重心运动规律,建立了数学模型,并结合CUMT-1型机器人参数进行了数字仿真分析和试验,仿真结果和试验数据验证了数学建模的正确性。根据建立的数学模型,可以估算履带式机器人能够越过的最大障碍高度;同时,还可以根据最大障碍高度确定履带机器人所需的最小长度,为履带式煤矿探测机器人的设计提供了理论依据。
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| 关 键 词： | 履带 机器人 越障 运动学 |
Kinematic analysis on obstacle-crossing behavior of tracked rescue robot in colliery |
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| WANG Songtao, ZHU Hua. Kinematic analysis on obstacle-crossing behavior of tracked rescue robot in colliery[J]. Mining & Processing Equipment, 2012, 0(8): 97-100 |
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| Authors: | WANG Songtao ZHU Hua |
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| Affiliation: | China University of Mining & Technology, Xuzhou 221116, Jiangsu, China |
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| Abstract: | In order to analyze the movement laws of the center of gravity of the tracked robot at crossing obstacles, a mathematical model was built. In combination with the parameters of CUMT-1 robot, mathematical simulation and analysis were carried out, and experiments were conducted in laboratory conditions. The mathematical model proved correct by simulation and experimental data. In addition, the maximum height of obstacle that the tracked robot could cross was estimated with the model, and the minimum length of the tracked robot was determined also according to the maximum obstacle height. The analysis results offered theoretical basis for the design of the tracked rescue robot in colliery. |
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| Keywords: | tracked robot obstacle-crossing kinematics |
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