摘要
为提升机器人在矿山非结构复杂地面环境的通过性能,设计并研发了摆臂式侦察机器人。基于机器人移动平台,对机器人进行了动力学建模。针对机器人移动平台摆臂模块进行了越障机理和运动模态研究,分析了机器人越障高度与机器人几何参数的关系,并对前后摆臂组件辅助下的机器人最大越障高度进行了分析研究。理论研究表明机器人最大越障高度463mm,与现场实测越障高度467mm误差小于1%,实验结果验证了理论分析的有效性,研究结果有利于机器人环境感知下的自动越障控制和智能化侦察。
In order to improve the obstacle-surmounting performance of mine detection robot on unstructured complex ground environment of underground coal mine,a swing-arm detection robot is designed and developed.Based on the robot mobile platform,the dynamic modeling of the robot is carried out.The obstacle-crossing mechanism and motion mode of the swing arm module of the robot mobile platform are studied,the relationship between the obstacle-surmounting height and the robot’s geometric parameters are analyzed,and the maximum obstacle-surmounting height of the robot assisted by the front and rear swing arm components is analyzed.Theoretical research shows that the maximum obstacle-surmounting height is 463 mm,and the field measured height of 467 mm,the error is within 1%.The validity of the theoretical analysis is verified.The research results are beneficial to automatic obstacle-surmounting control and intelligent detection under the environment perception of the robot.
作者
关丙火
GUAN Bing-huo(CHN Energy Shendong Coal Group Co.,Ltd.,Shenmu 719315,China)
出处
《煤炭工程》
北大核心
2022年第8期174-179,共6页
Coal Engineering
基金
国家重点研发计划资助项目(2017YFC0804302)。
关键词
摆臂式机器人
矿山侦察
爬坡越障
运动模态分析
仿真分析
swing arm robot
mine detection
climbing obstacle-surmounting
motion modal analysis
simulation analysis
