矿用多杆联动救援机器人的越障及抓取性能研究  

Research on Obstacle Crossing and Grasping Performance of Mine Multi Rod Linkage Rescue Robot

作　　者：曹传剑[1] 王永刚[1] Cao Chuanjian;Wang Yonggang(Qingdao Huanghai University,Qingdao 266427,China)

机构地区：[1]青岛黄海学院,山东青岛266427

出　　处：《煤矿机械》2021年第2期37-40,共4页Coal Mine Machinery

基　　金：山东省自然科学基金(ZR2016EEB36)。

摘　　要：为提升井下事故救援效率,提出一种多杆联动救援机器人,可实现轮足组合式驱动及独立模式切换。对越障驱动机构进行了结构设计,建立多杆并联模型,通过动力学分析得出其运动轨迹范围和不平整路面条件下的接触力变化特性。抓取机构采用软体3指机械手结构,基于有限元模拟和试验测试方法得出不同气压下的柔性体变形特性及最大抓取力变化规律。结果表明,轮足组合式驱动结构的越障稳定性良好,柔性指抓取的安全性较高,但工作气压不宜超过0.1 MPa。In order to improve the efficiency of underground accident rescue,a multi rod linkage rescue robot was proposed,which can realize wheel foot combined driving and independent mode switching.The structure of the obstacle crossing driving mechanism was designed,and the multi rod parallel model was established.Through the dynamic analysis,the range of its motion track and the change characteristics of contact force under the condition of uneven road surface were obtained.Based on the finite element simulation and test method,the deformation characteristics and maximum grasping force of flexible body under different air pressures were obtained.The results show that the wheel foot combined driving structure has good stability of obstacle crossing and high safety of grasping with flexible fingers,but the working pressure should not exceed 0.1 MPa.

关 键 词：多杆联动 救援机器人 动力学 有限元 接触力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]