论文部分内容阅读
移动性是救援机器人的关键性能之一,针对复杂的煤矿井下环境对搜救机器人移动性能和越障性能的要求,提出了一种六轮探测机器人平台。利用UG NX和RecurDyn对六轮机器人模型进行了设计与仿真对比,分析了几种六轮机器人正常行驶和跨越台阶过程中的稳定性,并对该机器人平台自适应地面的能力进行了分析。仿真结果表明,该平台不仅可充分发挥轮式机器人优良的移动性能,而且可以不借助差速机构实现六轮自适应复杂地面环境。
Mobility is one of the key features of rescue robots. In order to meet the requirements of search and rescue robots’ mobile performance and obstacle clearance performance in complex coal mine environment, a six-wheel probing robot platform is proposed. By using UG NX and RecurDyn, the design and simulation of the six-wheel robot model are compared and the stability of several six-wheel robots in the normal driving and over the step is analyzed. And the capability of the robot platform to adapt to the ground is analyzed. The simulation results show that the platform can not only give full play to the excellent mobile performance of the wheeled robot, but also can realize six wheels adaptive complex ground environment without the help of differential mechanism.