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研究了一种六足矿井搜救探测机器人的越障动力学问题。首先分析了机器人翻越垂直障碍的过程,进而构建了越障过程中不同步态时的动力学模型。该模型可以确定机器人所需的驱动力矩与几何尺寸、运动参数、障碍高度及摩擦因数之间的关系。通过不同步态的动力学分析,确定了机器人在越障过程中驱动力矩变化趋势。此结果为矿井搜救探测机器人在未知环境下越障步态的选择及优化提供了理论基础和依据。
This paper studies the obstacle-crossing dynamics of a six-legged mine search-and-rescue detection robot. Firstly, the process of the robot jumping over the vertical obstacle is analyzed, and then the dynamic model of the obstacle during the obstacle avoidance process is constructed. The model determines the relationship between the driving torque required by the robot and its geometry, kinematic parameters, obstacle height, and friction coefficient. Through the dynamic analysis of different gait, the change tendency of the driving torque during the obstacle obstacle was determined. The result provides the theoretical basis and basis for the selection and optimization of overcoming obstacle gait of mine search and rescue detection robot in unknown environment.