重型机械Issue(6)：8-12,5.
一种搜救机器人的设计与越障分析
Design and analysis on obstacle-crossing of a rescue robot
摘要
Abstract
This article focused on solving the problem of large mass and less mobility in the existing tracked coal mine rescue robot.A robot, which had two swing arms and the ability of detecting several kinds of gas under the coal mine, had been designed with hub motors.Based on the structure of the robot and the feature of the terrain and the obstacles after the accident, the simplified model of the obstacles was got.The biggest obstacle-crossing ability of the robot was analyied in D-H method, the three-dimensional model of the robot was established with solidworks software and carried out simulation with Adams, the simulation results of the obstacle crossing showed that the robot could cross the highest obstacles which was theoretical.It was verified that the mobility of the rescue robot could be improved by reducing weight under the premise of guaranteeing the obstacle-crossing ability of the rescue robot.关键词
机器人/轮毂电机/D-H法/越障分析Key words
robot/hub motor/D-H method/obstacle-crossing analysis分类
信息技术与安全科学引用本文复制引用
刘巍巍,王成龙,刘慧芳..一种搜救机器人的设计与越障分析[J].重型机械,2016,(6):8-12,5.基金项目
国家自然科学基金资助项目(51305277) （51305277）
