关键词: 摆臂式机器人, 矿山侦察, 爬坡越障, 运动模态分析, 仿真分析

Abstract: Aiming at the problem of mine robot working under the ground, in order to improve the obstacle-surmounting performance of the robot in the non-structural complex ground environment, a swinging-arm type detection-rescue robot is designed and developed this paper. Based on the robot mobile platform, the dynamic modeling of the robot swing-arm and ontology is carried out, and the mechanism and motion mode of the platform swing-arm module are studied, the relationship between the robot's barrier height and the robot's geometric parameters is analyzed, and the maximum barrier height of the robot under the assistance of the front and rear swing arm components is analyzed. Studies have shown that the maximum obstacle-surmounting performance of the robot is 463 mm, and the actual maximum obstacle-surmounting performance in the experiment is 467 mm. The results of outdoor experiments verify the validity of theoretical analysis and are beneficial to automatic obstacle-surmounting control and intelligent detection and rescue.