薄煤层工作面巡检机器人越障前动力学分析

摘要

薄煤层综采工作面空间狭窄,环境恶劣,针对薄煤层综采工作面地形环境,设计了一种四摇臂结构的履带式巡检机器人辅助工人完成日常检修工作.由达朗伯原理和牛顿—欧拉方程,建立了机器人在越障前和越障爬升过程中的动力学模型,分析得到了不同地面摩擦系数和前摇臂倾角对主驱动电机输出力矩的影响规律,该规律可为该结构的机器人越障前的前摇臂倾角动作规划提供参考,同时为驱动电机的合理选型提供理论依据,有利于提高巡检机器人的越障性能.%Thin coal seam fully mechanized mining workface has a narrow space and harsh environment, According to the terrain environment of fully mechanized workface in thin coal seam, a crawler inspection robot with four rockerarms which can auxiliary workers to accomplish routine maintenance work is designed. Based on the D′Alembert′s principle and the Newton-Euler equation, the dynamic model of the robot before the obstacle crossing is established, and analyze the influence rules of the output torque of the main driving motor with different ground surface friction coefficient and the front arm angle. This rules can provide a reference to the action plan for this structure of robot before obstacle crossing, and provide theoretical basis for reasonable selection of drive motor, which is conducive to improve the performance of obstacle crossing for the inspection robot.