巡检机器人越障运动学分析及仿真  

Over-obstacle Kinematics Analysis and Simulation of Patrol Tracked Mobile Robot

作　　者：赵建伟[1] 张云龙[1] 商德勇[1] 刘娜[1] 范迅[1] 

机构地区：[1]中国矿业大学(北京),北京100083

出　　处：《机电产品开发与创新》2015年第3期7-9,19,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：设计了一种可用于薄煤层井下巡检的六履带式移动机器人。建立了机器人三维实体模型和运动学方程,介绍了机器人主要机械结构部件,分析了机器人越垂直障碍时的位姿,对机器人三维实体模型简化后Adams运动学仿真分析,验证了六履带机器人的可行性及可靠性。仿真数据分析表明机器人具有运动灵活,环境适应能力好,越障能力强等优点。Designed a six patrol tracked mobile robot can be used in thin seam.Established three-dimensional entity model and kinematics e- quation, Introduced the main mechanical structure Analysis the over-vertical obstacle pose of the robot and use Adams analysis kinematics of the simplified three-dimensional entity.Verify the feasibility and reliability of the six tracked robot. Analysis the simulation data showed that the robot has high flexibility motion, favorable environmental adaptability and strong over-obstacle ability etc.

关 键 词：履带式移动机器人 越障 运动学分析 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]