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《Heavy Machinery》 2016-06
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Design and analysis on obstacle-crossing of a rescue robot

LIU Wei-wei;WANG Cheng-long;LIU Hui-fang;School of Mechanical Engineering,Shenyang University of Technology;  
This article focused on solving the problem of large mass and less mobility in the existing tracked coal mine rescue robot. A robot,which had two swing arms and the ability of detecting several kinds of gas under the coal mine,had been designed with hub motors. Based on the structure of the robot and the feature of the terrain and the obstacles after the accident,the simplified model of the obstacles was got. The biggest obstaclecrossing ability of the robot was analyied in D-H method,the three-dimensional model of the robot was established with solidworks software and carried out simulation with Adams,the simulation results of the obstacle crossing showed that the robot could cross the highest obstacles which was theoretical. It was verified that the mobility of the rescue robot could be improved by reducing weight under the premise of guaranteeing the obstacle-crossing ability of the rescue robot.
【Key Words】: robot hub motor D-H method obstacle-crossing analysis
【Fund】: 国家自然科学基金资助项目(51305277)
【CateGory Index】: TP242
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