一种小型矿用救灾探测机器车设计研究

摘要

本文主要是对一种小型矿用救灾探测机器车设计进行研究，对其运动姿态进行分析，建立肢体运动学模型，并利用人工势场法进行局部路径规划，该机器车可以实现爬坡、避障、涉水洼、有害气体检测、搜索生命体征等诸多功能。不但填补了本地区此项技术的研究空白，而且为矿用救灾探测机器人的研究探索了新途径。%This article mainly talks about research and design of small mine disaster relief detecting robot vehicle , analyzing its moving posture , establishing the limbs kinematic model , furthermore , by using artificial potential field method to plan local path . This robot vehicle can achieve the climbing , avoid the obstacle , paddled the water‐hole , detect harmful gases , search for life . Not only filling this technology research vacancy in the local area , but also exploring the new thinking on research of robot vehicle .