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为了使煤矿探测机器人具有更好的越障能力,针对普通动力电池难以提供机器人所需大电流放电的情况,结合动力电池和超级电容的特性,设计了动力电池和超级电容组成的混合电源。通过机器人模型进行运动学仿真得出使机器人爬上不同角度的坡道所需的最大电流,而以普通动力电池和混合电源的电流输出能力分别能使机器人爬上的最大坡度为30°和37°,并通过机器人爬坡试验获得了机器人实际最大爬坡角度,与仿真结果一致。表明混合电源能够提高机器人的越障能力。
In order to make coal detection robots have better obstacle-crossing ability, aiming at the difficulty that ordinary power battery can provide large-current discharge required by robot, combined with the characteristics of power battery and super capacitor, a hybrid power supply composed of power battery and super capacitor is designed. The kinematics simulation of the robot model leads to the maximum current required for the robot to climb the ramp at different angles. The current output capacity of the ordinary power battery and the hybrid power supply respectively enables the robot to climb up to 30 ° and 37 °, respectively °, and the robot’s maximum climbing angle is obtained by robot climbing test, which is consistent with the simulation results. It shows that the hybrid power supply can improve the robotic obstacle-crossing ability.