六足矿井搜救探测机器人越障动力学建模与分析  

Dynamic modeling and analysis for obstacle negotiation of mine rescue detection hexapod robot

作　　者：苏学满[1,2,3] 孙丽丽[1] 许德章[1,2,3] 

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]安徽工程大学机器人产业技术研究院,安徽芜湖241000 [3]先进数控与伺服驱动技术安徽省重点实验室,安徽芜湖241000

出　　处：《机械设计》2016年第2期100-104,共5页Journal of Machine Design

摘　　要：研究了一种六足矿井搜救探测机器人的越障动力学问题。首先分析了机器人翻越垂直障碍的过程,进而构建了越障过程中不同步态时的动力学模型。该模型可以确定机器人所需的驱动力矩与几何尺寸、运动参数、障碍高度及摩擦因数之间的关系。通过不同步态的动力学分析,确定了机器人在越障过程中驱动力矩变化趋势。此结果为矿井搜救探测机器人在未知环境下越障步态的选择及优化提供了理论基础和依据。The obstacle negotiation dynamics of hexapod robot with half-circle legs was studied. Firstly, the process of ver- tical obstacle negotiation was analyzed, and then dynamic models of the different stages of obstacle negotiation process were es- tablished. The relationships between the torque of driving robot and geometry, motion parameters, barrier height and the coeffi- cient of friction were determined in these models. Through kinetic analysis of different stages of obstacle negotiation, the limit state of the torque of driving robot was determined, and the various factors on the impact of the required driving torque were analyzed. This result would provide a theoretical basis and foundation to improve half-cirele legged robot adaptability to an un- known environment.

关 键 词：矿井搜救探测 六足机器人 半圆形柔性腿 越障 动力学建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]