一种六轮矿难救援机器人的结构设计与仿真分析  

Structural design and simulation analysis of a six-wheel mine rescue robot

作　　者：王忠民[1] 张朗[1] 胡滨[1] 马博[1] 

机构地区：[1]西安邮电大学,陕西西安710121

出　　处：《矿山机械》2013年第10期117-121,共5页Mining & Processing Equipment

基　　金：陕西省工业攻关项目(2012K06-05);陕西省教育厅2012年服务地方专项(产业化培育)项目(2012JC22)

摘　　要：移动性是救援机器人的关键性能之一,针对复杂的煤矿井下环境对搜救机器人移动性能和越障性能的要求,提出了一种六轮探测机器人平台。利用UG NX和RecurDyn对六轮机器人模型进行了设计与仿真对比,分析了几种六轮机器人正常行驶和跨越台阶过程中的稳定性,并对该机器人平台自适应地面的能力进行了分析。仿真结果表明,该平台不仅可充分发挥轮式机器人优良的移动性能,而且可以不借助差速机构实现六轮自适应复杂地面环境。Mobility is one of the key performances of the rescue robot. In view of the requirements of mobile performance and obstacle-crossing performance of the underground rescue robot in complex operation environments, a new type of six-wheel rescue robot platform was proposed. The model of the six-wheel robot was designed by using UG NX, as well as simulated and compared by using RecurDyn. Stability of several six- wheel robots in normal walking mode and obstacle-crossing mode were analyzed, and the self-adaptive ability of the robot platform on various terrains was simulated. The simulation results showed that the platform could not only give full play to excellent mobile performance of the wheeled robot, but also achieve the self-adaption on complex terrain without differential mechanism.

关 键 词：六轮机器人 结构设计 RECURDYN 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]