一种搜救机器人的设计与越障分析

发布时间：2018-07-07 10:49

本文选题：机器人 + 轮毂电机　；参考：《重型机械》2016年06期

【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。
[Abstract]:In order to solve the problem that the existing crawler coal mine rescue robot is heavy in quality and poor in maneuverability, a two-rocker arm search and rescue robot with detecting function is designed by using hub motor as the power. According to the whole structure of double rocker arm crawler robot, combined with the underground topography and the configuration characteristics of obstacles after the accident, the simplified model of obstacles is obtained, and the maximum obstacle surmounting ability of the robot is analyzed by using D-H method. The robot is modeled by Solidworks and simulated in Adams. The results show that the designed robot can cross the theoretical maximum obstacle, and it is verified that the ability of the search and rescue robot to surmount obstacles is guaranteed. The possibility of increasing the maneuverability of a robot by reducing its weight.
【作者单位】：沈阳工业大学机械工程学院;
【基金】：国家自然科学基金资助项目(51305277)
【分类号】：TP242

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