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针对煤矿无人区域的实际情况,设计并研制了一种四轮驱动式小空间检测机器人系统,用以井下环境信息和样品的采集。机器人结构主要由机器人本体、移动机构、控制器和机械臂机构等组成。主要介绍机器人的系统组成,并对5自由度机械手进行动力学和静力学分析,验证其结构设计的合理性和实际工作中的承载性能。分析结果表明,机械手各关节力矩的变化稳定且均未超过电机所能提供的极限值;小臂最大变形0.012 397 mm,最大应力15.802 9 MPa均对系统结构影响很小,从而说明5自由度机械手选型准确,结构设计合理,能够满足煤矿实际工作需求。
Aiming at the actual situation of unmanned area in coal mine, a four-wheel drive small space detection robot system is designed and developed for downhole environment information and sample collection. The robot structure is mainly composed of robot body, moving mechanism, controller and arm mechanism. Mainly introduces the robot system composition, and dynamics and static analysis of 5 degrees of freedom manipulator to verify the rationality of its structural design and bearing capacity in the actual work. The analysis results show that the joint torque of the manipulator changes steadily and does not exceed the limit values provided by the motor. The maximum deformation of the arm of 0.012397 mm and the maximum stress of 15.802 9 MPa all have little influence on the system structure, indicating that the 5-DOF manipulator Selection of accurate, reasonable structure design, to meet the actual needs of coal mines.