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通过分析现有煤矿救援机器人行走机构的特点,结合救援现场非结构复杂地形,提出了一种新型的二自由度中部摆动四履带救援机器人行走机构设计方案,并对该机构进行运动学分析,结果表明:该行走机构有较强的地面适应能力和稳定性。
By analyzing the characteristics of existing coal mine rescue robots’ walking mechanism and combining with unstructured complex terrain on the rescue site, a new design scheme of walking mechanism for two-freedom swinging four-caterpillar rescue robot with two degrees of freedom is proposed. The kinematic analysis of this mechanism is carried out. The results It shows that the running gear has strong ground adaptability and stability.