摇臂式双履带机器人越障性能分析  

Obstacle Performance Analysis of Double-track Robot with Arms

作　　者：邓乐[1] 孙海珍[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454000

出　　处：《煤矿机械》2014年第9期74-76,共3页Coal Mine Machinery

基　　金：河南理工大学博士基金资助项目(B2009-7)

摘　　要：针对煤矿井下的救援双履带机器人越障能力有限,摆臂履带式机器人摆臂辅助越障过程中控制复杂的问题,设计一种具有自适应能力的摇臂式双履带机器人移动机构。对该移动机构的越障能力进行了分析,与普通双履带机器人的越障高度进行比较得出摇臂式双履带机器人越障能力优越。In irregular environments, crossing obstacle capacity of double-track robot is limited, and it is difficult to control the swing arms to assist the track robot with active swing arms to cross the obstacle. The paper proposed a double-tracked robot with self-adaptive capabilities arms. The performance of the double-track with self-adaptive capabilities arms was analyzed theoretically. Compared with double tracked robot, the obstacle height of the double-tracked robot with self-adaptive canabilities arms is verified.

关 键 词：非结构环境 履带式机器人 越障 移动机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]