针对薄煤层综采工作面日常巡检,设计了一种关节式履带机器人,其主要特点是结构紧凑、越障能力强、便于携带。介绍了巡检机器人的机械结构,对越障姿态进行了规划,并对自撑起和越障过程中的摆臂机构进行了动力学建模,得到了摆臂电机输出转矩与机身倾角和摆臂转角的关系,为摆臂电机选型提供了理论依据,进一步提高了巡检机器人的环境适应能力。 Aiming at the routine inspection of the fully mechanized mining face in thin coal seam, an articulated track-type robot is designed. Its main features are compact structure, strong barrier ability and easy to carry. The mechanical structure of the inspection robot is introduced to plan the obstacle avoidance posture. The dynamics of the swing arm mechanism in the process of self-supporting and over-obstacle is modeled, and the output torque of the arm-arm motor and the inclination of the body are obtained. And the relationship between the swing arm, swing arm motor selection provides a theoretical basis to further improve the inspection robot environment adaptability.