履带式巡检机器人设计与仿真分析  

Design and Simulation Analysis of Crawler Type Inspection Robot

作　　者：许永超 黄雪涛[1] 胡忠义 王宪成 刘子豪 Xu Yongchao;Hang Xuetao;Hu Zhongyi;Wang Xiancheng;Liu Zihao(Automotive Engineering College,Shandong Jiaotong University,Jinan 250300,China)

机构地区：[1]山东交通学院汽车工程学院,济南250300

出　　处：《煤矿机械》2024年第2期19-21,共3页Coal Mine Machinery

摘　　要：针对矿井作业复杂危险工况对矿井工人安全存在很大威胁的问题,设计了一款矿用履带式智能巡检机器人。基于STM32单片机搭建机器人的控制系统,分析了机器人的越障性能,通过多体动力学Recurdyn软件对越障性能进行了仿真验证,最后制造样机通过试验验证了该履带式巡检机器人设计的合理性与可行性。In response to the problem of complex and dangerous working conditions in mine operations posing a significant threat to the safety of mine workers,a mine crawler type intelligent inspection robot was designed.The control system of the robot was built based on STM32 microcontroller.Its obstacle crossing performance was analyzed.The obstacle crossing performance was simulated and verified by using the multi body dynamics Recurdyn software.Finally,the accuracy and feasibility of the design of the crawler type intelligent inspection robot were verified by building a prototype.

关 键 词：履带式巡检机器人 越障性能 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]