Moving mechanism design of mine-used detection robot and its gait analysis
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摘要: 为了适应煤矿井下复杂地形，设计了一种煤矿探测机器人行走机构：躯体为圆形，6条腿均布在躯体四周；躯体及腿部采用高强度铝合金材料，整机仅800 g。对该机器人直线行走步态、原地转向步态及其运动能力进行了分析。采用Solidworks和ADAMS软件建立了机器人仿真模型，对其进行仿真及样机试验，结果表明，机器人单次旋转动作的最大完成角度达24°，最多2次旋转操作即可完成任意角度转向；机器人直线行走时平均速度达0.1 m/s，其位移、速度及加速度变化较规律，运动较平稳，没有出现剧烈抖动。Abstract: In order to adapt to complex terrain in coal mine underground, a moving mechanism of mine-used detection robot was designed. The robot has a circular body, and its 6 legs are uniformly distributed around the body. The body and legs are processed by use of high strength aluminum alloy material, and quality of the robot prototype is only 800 g. Straight line walking gait, turning point gait and motion ability of the robot were analyzed. A simulation model of the robot was built by use of Solidworks and ADAMS software, and the model and prototype were tested. The test results show that the maximum implementation angle of the robot is 24° in once rotation. Thus the robot can complete rotation with any degree in twice rotation. Average speed of the robot is 0.1 m/s in straight link walking, and displacement, velocity and acceleration changes regularly. The robot moves smoothly without obvious jitter.
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Keywords:
- coal mine rescue /
- disaster rescue robot /
- detection robot /
- moving mechanism /
- gait analysis
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期刊类型引用(3)
1. 胡荣华，安冬，史梦圆，陆文涛，孙宁，张浩龙，徐加贤. 智能矿用机器人研究现状及发展趋势. 黄金. 2023(09): 59-68 . 
百度学术
2. 杨春雨，张鑫. 煤矿机器人环境感知与路径规划关键技术. 煤炭学报. 2022(07): 2844-2872 . 百度学术
3. 马艾强，姚顽强，蔺小虎，张联队，郑俊良，武谋达，杨鑫. 面向煤矿巷道环境的LiDAR与IMU融合定位与建图方法. 工矿自动化. 2022(12): 49-56 . 本站查看
其他类型引用(1)
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