本文選題：機(jī)器人 + 輪轂電機(jī)��； 參考：《重型機(jī)械》2016年06期

【摘要】：為了解決現(xiàn)有履帶式煤礦井下救援機(jī)器人質(zhì)量偏重、機(jī)動(dòng)性較差的問題,采用輪轂電機(jī)為動(dòng)力,設(shè)計(jì)了一款具備檢測功能的雙搖臂搜救機(jī)器人。根據(jù)雙搖臂履帶機(jī)器人的整體結(jié)構(gòu),結(jié)合事故后井下地形和障礙物的構(gòu)形特點(diǎn),得出了障礙物的簡化模型,采用D-H法分析了機(jī)器人的最大越障能力,利用Solidworks軟件對(duì)機(jī)器人進(jìn)行了建模并在Adams中進(jìn)行了仿真,結(jié)果表明所設(shè)計(jì)的機(jī)器人能夠?qū)崿F(xiàn)對(duì)理論最大障礙物的跨越,驗(yàn)證了在保證搜救機(jī)器人越障能力的前提下,由減輕機(jī)器人重量來提高其機(jī)動(dòng)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(xué)機(jī)械工程學(xué)院;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(51305277)
【分類號(hào)】：TP242

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本文編號(hào)：2104734