具有拨土功能的轮腿一体化机器人结构设计

摘要

针对矿井灾难环境特点,采用三维建模软件设计了一种轮腿一体化机器人.该机器人采用轮腿一体式结构,具备了腿式机器人和轮式机器人的运动优点.分析了在不同环境下机器人采用的行进方式(即机器人步态),增强了机器人的环境适应能力,并且设计了基于多传感器信息的运动控制系统.该系统能够完成灾难矿井下的环境探测、信息获取以及机器人步态控制等功能,为矿难救援工作提供了重要的信息.%According to the environmental characteristics of mine disaster, this paper designs a leg-wheeled integration robot by using 3D modeling software. The robot takes the structure of leg-wheeled integration, which has the movement advantages of leg robot and wheel robot, analyzes the walking method of robot in various environmental states, enhances the environmental adaptability of robot, and also designs the motion control system based on multi-sensor information. This system can fulfill various functions, such as environment detection, information acquisition , and robot walking control, etc, providing significant information for the rescue work when mine disaster happens.