矿用救援机器人悬架平衡机构建模与仿真

Coal Mine Rescue Robot Suspension Mechanism Modeling and Simulation Experiment

为了提高矿用救援机器人的平顺性和越野性,将被动适应式空间平衡连杆机构与履带行驶机构相结合,根据对角线对称布置和中心线对称布置两种空间平衡连杆机构,分别设计了矿用救援机器人悬架。基于笛卡尔坐标系建立了两种悬架多刚体模型,计算其自由度为2,表明两种悬架均具有差动性能;通过几何方法推导出对角线对称的悬架具有线性均化作用。在Recurdyn多体系统仿真环境下进行运动学仿真,并使用蒙特卡洛法进行试验,对试验结果进行线性回归分析,结果表明:所设计的两种矿用救援机器人悬架均具有差动性能;与中心线对称的空间平衡连杆机构悬架相比,对角线对称的空间平衡连杆机构悬架还具有线性均化能力,因此,采用对角线对称的空间平衡连杆机构悬架。所设计悬架的零部件布置于隔爆机箱外部,不必考虑悬架与隔爆机箱的密封,简化了结构设计,满足矿用救援机器人运动功能的需求。

To improve the stability and cross-country ability of coal mine rescue robot, two types of coal mine rescue robot suspensions were designed based on two types of spatial balance linkage mechanism （SBI.M）. Each design combined SBLM with tracks but differentiated in that one design used diagonal symmetry mode and the other used center line symmetry mode. The multi-rigid body models of two types of SBLM were established and degree of free- dom was 2 by calculation in Descartes coordinate system, indicating the differential motion performance of the mechanisms. The linear equalization function of diagonal symmetry mechanism was deduced in light of geometric derivation. Kinematics simulation was implemented using Recurdyn and simulating experiment using Monte Carlo method was conducted. In light of one-dimensional linear regression, the differential motion performance of the two types of SBLM and the linear equalization function of the diagonal symmetry mechanism were verified. The final results prove the suspension with the diagonal symmetry mechanism is suitable for coal mine rescue robot.