基于ADAMS的煤矿井下搜救机器人越障性能分析

Analysis on obstacle crossing performance of underground rescue robot based on ADAMS

针对复杂的煤矿井下环境对搜救机器人越障性能和转向灵活性的要求,提出了一种具有前摆臂的履带机器人。为了检验设计方案的有效性,对机器人爬坡、跨越凸台和转向进行分析,并用ADAMS进行仿真。仿真结果验证了机器人的越障、转向性能以及分析结论的正确性。

For the requirements of obstacle crossing performance and steering flexibility of the underground rescue robot in complex operation environments,a new-type tracked robot with forearms was proposed.In order to check the effectiveness of the robot,the paper analyzed the robot motion such as climbing,protrusion crossing and steering,and carried out simulation with ADAMS.The simulation results of the obstacle crossing and steering of the robot verified the obstacle crossing and steering performance and the correctness of obtained conclusion.