多节履带式煤矿救援机器人机构及其动力学仿真

摘要

A new multi-linked multitrack mine rescue robot is proposed for obtaining the field information in time in the complicated mine accident environment. The robot can get through a confined space, get over a higher obstacle and carry multiple environment detecting sensors. The dynamics model of the new mine rescue robot is built by the Newton-Euler iterative method and the dynamics simulation analysis is done by using the Matlab Function module. The analysis shows that the main factors affecting the dynamics performance of the mine rescue robot are the coupling actions among the links, the initial status of each link and the terrain parameters. This conclusion supplies a valid foundation for realizing the control of the robot.%为在煤矿事故复杂环境下及时获得事故现场信息,提出了一种可穿越狭窄空间、翻越较高障碍并可携带多种环境探测传感器的多节串联多履带式的新型煤矿救援机器人.采用递推形式的牛顿欧拉法建立了该机器人的动力学模型,并利用Matlab Function模块进行了动力学仿真分析.分析结果表明,影响该机器人动力学特性的主要因素是其各单元之间的耦合作用、各单元的初始状态以及地面土壤参数,此结论为实现该机器人的控制提供了有效的依据.