一个具有可变轮径的煤矿机器人的设计和运动分析
Liguo Han1,2, Fei Ding3,4, Lijuan Zhao5
1School of Computer and Information Engineering, Fuyang Normal University, Fuyang, 236037, China.
Scientific reports
|February 22, 2025
概括
本研究介绍了一种新的可变轮径机器人,该机器人专为复杂的煤矿环境而设计. 机器人增强了穿越障碍物和地形的适应性,为现有设计提供了灵活和轻量的替代方案.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 采矿技术 采矿技术 采矿技术
背景情况:
- 煤矿是一个复杂的,非结构化的环境,对传统的机器人来说是一个挑战.
- 现有的机器人往往缺乏适应各种地形和采矿操作中遇到的障碍的适应能力.
研究的目的:
- 设计和验证一个带有可变轮径机制的机器人,以改善在煤矿中的障碍物穿越和地形适应性.
- 提高机器人的灵活性和轻量级性质,用于采矿的特殊检测任务.
主要方法:
- 开发了使用轮,连接棒和滑动轨道的可变轮径机制.
- 既定的动力模型用于单个轮子和整个车辆.
- 使用RecurDyn软件进行机器人机动和克服障碍物的动态模拟.
- 为实验验证建造了一个3D打印的原型.
主要成果:
- 机器人的车轮直径可以从最小半径107毫米到最大158毫米不等.
- 该原型成功克服了高达172毫米的障碍物,与普通轮型机器人相比增加了60.7%.
- 当轮子展开时,机器人的中心心位上升了50毫米,在最大半径时,中心心位波动最小 (3.6毫米).
结论:
- 轮子直径可变的机器人展示了在非结构化环境中超越障碍物和地形适应能力的卓越能力.
- 该设计在灵活性和重量方面提供了显著的优势,与跟踪和腿类机器人相比.
- 这一创新为未来煤矿应用开发智能检测机器人提供了新的方向.
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