本文選題：機器人 + 輪轂電機��； 參考：《重型機械》2016年06期

【摘要】：為了解決現(xiàn)有履帶式煤礦井下救援機器人質量偏重、機動性較差的問題,采用輪轂電機為動力,設計了一款具備檢測功能的雙搖臂搜救機器人。根據(jù)雙搖臂履帶機器人的整體結構,結合事故后井下地形和障礙物的構形特點,得出了障礙物的簡化模型,采用D-H法分析了機器人的最大越障能力,利用Solidworks軟件對機器人進行了建模并在Adams中進行了仿真,結果表明所設計的機器人能夠實現(xiàn)對理論最大障礙物的跨越,驗證了在保證搜救機器人越障能力的前提下,由減輕機器人重量來提高其機動能力的可能。
[Abstract]:In order to solve the problem that the existing crawler coal mine rescue robot is heavy in quality and poor in maneuverability, a two-rocker arm search and rescue robot with detecting function is designed by using hub motor as the power. According to the whole structure of double rocker arm crawler robot, combined with the underground topography and the configuration characteristics of obstacles after the accident, the simplified model of obstacles is obtained, and the maximum obstacle surmounting ability of the robot is analyzed by using D-H method. The robot is modeled by Solidworks and simulated in Adams. The results show that the designed robot can cross the theoretical maximum obstacle, and it is verified that the ability of the search and rescue robot to surmount obstacles is guaranteed. The possibility of increasing the maneuverability of a robot by reducing its weight.
【作者單位】： 沈陽工業(yè)大學機械工程學院;
【基金】：國家自然科學基金資助項目(51305277)
【分類號】：TP242

【相似文獻】

相關期刊論文 前10條

1 姜勇;;深海復合輪式采礦機器人越障性能研究[J];機器人;2012年02期

2 汪新,楊棟,許e，

本文編號：2104734