高技术通讯2011，Vol.21Issue(1)：83-87,5.DOI:10.3772/j.issn.1002-0470.2011.01.014
多节履带式煤矿救援机器人机构及其动力学仿真
Mechanism and dynamics simulation of a multi-linkedandtracked mine rescue robot
摘要
Abstract
A new multi-linked multitrack mine rescue robot is proposed for obtaining the field information in time in the complicated mine accident environment. The robot can get through a confined space, get over a higher obstacle and carry multiple environment detecting sensors. The dynamics model of the new mine rescue robot is built by the Newton-Euler iterative method and the dynamics simulation analysis is done by using the Matlab Function module. The analysis shows that the main factors affecting the dynamics performance of the mine rescue robot are the coupling actions among the links, the initial status of each link and the terrain parameters. This conclusion supplies a valid foundation for realizing the control of the robot.关键词
煤矿救援机器人/机构建模/动力学仿真/牛顿欧拉法Key words
mine rescue robot/ mechanism modeling/ dynamics simulation/ Newton-Euler method引用本文复制引用
刘罡,刘玉斌,赵杰,刘刚峰,朱磊..多节履带式煤矿救援机器人机构及其动力学仿真[J].高技术通讯,2011,21(1):83-87,5.基金项目
863计划(2007AA041501)资助项目. （2007AA041501）
