摘要
基于煤矿井下的特殊工作环境,以及煤矿事故发生时对救援机器人的越障能力和抗震性能的要求,提出一种能有效减震和提高越障稳定性的履带式救援机器人。根据RPY组合变换建立坐标系,计算出机器人的质心坐标,分析机器人在跨越台阶、沟槽等相关障碍时的运动特性,得出最大越障能力。
The special working environment based on the coal mine, and requirements of the rescue robot obstacle capability and seismic performance of coal mine accident, provides an effective damping and improve the stability of crawler rescue robot. According to the combination of RPY transform to establish the coordinate system, calculate the centroid coordinates of the robot, the robot in the step, analysis of characteristics of the motion of trench related disorders, obtained the maximum climbing ability.
作者
李秋生
户满堂
LI Qiu-sheng, HU Man-tang(College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, Chin)
出处
《煤炭技术》
CAS
2018年第4期190-193,共4页
Coal Technology
关键词
煤矿
越障
救援机器人
结构设计
coal mine
obstacle surmounting
rescue robot
structure design
