基于ADAMS的煤矿井下搜救机器人越障性能分析  

Analysis on obstacle crossing performance of underground rescue robot based on ADAMS

作　　者：邓乐[1] 赵莉莉[1] 谢国周[1] 齐博[1] 

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454003

出　　处：《矿山机械》2012年第6期126-129,共4页Mining & Processing Equipment

基　　金：河南理工大学博士基金(B2009-7)

摘　　要：针对复杂的煤矿井下环境对搜救机器人越障性能和转向灵活性的要求,提出了一种具有前摆臂的履带机器人。为了检验设计方案的有效性,对机器人爬坡、跨越凸台和转向进行分析,并用ADAMS进行仿真。仿真结果验证了机器人的越障、转向性能以及分析结论的正确性。For the requirements of obstacle crossing performance and steering flexibility of the underground rescue robot in complex operation environments,a new-type tracked robot with forearms was proposed.In order to check the effectiveness of the robot,the paper analyzed the robot motion such as climbing,protrusion crossing and steering,and carried out simulation with ADAMS.The simulation results of the obstacle crossing and steering of the robot verified the obstacle crossing and steering performance and the correctness of obtained conclusion.

关 键 词：煤矿井下搜救机器人 越障 转向 运动仿真 

分 类 号：TD774[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]