摘要
提出一种用于煤矿救援的虾形六轮移动机器人,对其头部的垂直越障能力与机器人结构参数、地面摩擦系数的关系进行了分析,通过建立头部垂直越障力学分析模型,得到了机器人头部垂直越障最大高度与其影响因素的定量关系模型,并用物理样机进行了验证。
A six-wheel shrimp mobile robot for mine rescue is put up, and the relation between perpendicular obstacle performance of the head part and structure parameters of the robot and friction factor was analyzed. By building the mechanical analysis model of perpendicular obstacle of the head part, the quantitative relation of the height of perpendicular obstacle of the head part and the influence factors was obtained.
出处
《煤矿机械》
北大核心
2009年第8期64-66,共3页
Coal Mine Machinery
基金
山东省重大项目(21050103)
关键词
救援机器人
虾形
头部
垂直障碍
越障性能
rescue robot
shrimp
head
perpendicular obstacle
obstacle performance
