轮式煤矿救灾机器人地形适应性分析  

Analysis on terrain adaptability of wheeled colliery-used rescue robot

作　　者：沈宏明 

机构地区：[1]煤炭科学技术研究院有限公司,北京100013 [2]煤炭资源高效开采与洁净利用国家重点实验室,北京100013

出　　处：《矿山机械》2015年第6期120-122,共3页Mining & Processing Equipment

摘　　要：为了评价轮式煤矿救灾机器人对地形的适应性,提出一种以移动机构一侧悬架3轮心组成定圆曲率值评价轮式煤矿救灾机器人地形适应性的指标方法,并以6轮导杆联动式悬架为例,推导了悬架3个车轮处于不同高度时3轮心组成定圆的曲率值。In order to evaluate the terrain adaptability of the wheeled colliery-used rescue robot, the paper proposed a new method for evaluating the terrain adaptability of the wheeled colliery-used rescue robot. In the method, the curvature of the circle formed by three centers of wheels of the suspension on one side of the mobile mechanism served as the evaluation index. In addition, six-wheeled guide-rod linkage suspension was taken as the example to derive the curvature of the circle formed by three centers of wheels while three wheels of the suspension was located at various height.

关 键 词：煤矿救灾机器人 地形适应性 移动机构 悬架 曲率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]