履带式煤矿救援机器人越障能力的运动学分析

Kinematic analysis on obstacle-crossing behavior of tracked rescue robot in colliery

针对履带式机器人越障时的重心运动规律,建立了数学模型,并结合CUMT-1型机器人参数进行了数字仿真分析和试验,仿真结果和试验数据验证了数学建模的正确性。根据建立的数学模型,可以估算履带式机器人能够越过的最大障碍高度;同时,还可以根据最大障碍高度确定履带机器人所需的最小长度,为履带式煤矿探测机器人的设计提供了理论依据。

In order to analyze the movement laws of the center of gravity of the tracked robot at crossing ob- stacles, a mathematical model was built. In combination with the parameters of CUMT-1 robot, mathematical simulation and analysis were carried out, and experiments were conducted in laboratory conditions. The mathe- matical model proved correct by simulation and experimental data. In addition, the maximum height of obstacle that the tracked robot could cross was estimated with the model, and the minimum length of the tracked robot was determined also according to the maximum obstacle height. The analysis results offered theoretical basis for the design of the tracked rescue robot in colliery.