摘要
针对灾后井下复杂的非结构化环境,结合对煤矿巡检工作的要求,以简化机器人的越障动作与增强机器人对复杂地形的适应能力为目标,设计一种平行四边形连杆机构机器人行走机构。采用Solidworks建立巡检机器人行走机构的三维结构模型,对机器人进行越障能力和倾覆稳定性分析。研究结果表明,该巡检机器人行走机构具有更好的越障性能和稳定性。
Aiming at the complex unstructured underground environment after disaster,combined with the requirements of inspection work in coal mine,a parallelogram connecting rod mechanism wheeled robot walking mechanism was designed to simplify the robot's obstacl-crossing action and enhance the robot's adaptability to complex terrain.The three-dimensional structure model of the walking mechanism of the inspection robot was established with Solidworks,and the obstacle crossing ability and overturning stability of the robot were analyzed.The results show that the robot walking mechanism has better obstacle-crossing performance and stability.
作者
李洋
李渊
武泽伟
LI Yang;LI Yuan;WU Zewei(Shanxi Datong University,Datong 037000,China)
出处
《煤》
2024年第3期27-30,共4页
Coal
基金
2021年度山西省高等学校科技创新项目(2021L380)。
关键词
机器人
行走机构
越障
robot
walking mechanism
obstacle clearing
stability
