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为了评价轮式煤矿救灾机器人对地形的适应性,提出一种以移动机构一侧悬架3轮心组成定圆曲率值评价轮式煤矿救灾机器人地形适应性的指标方法,并以6轮导杆联动式悬架为例,推导了悬架3个车轮处于不同高度时3轮心组成定圆的曲率值。
In order to evaluate the adaptability of wheeled coal mine rescue robot to the terrain, an index method is proposed to evaluate the terrain adaptability of wheeled coal mine rescue robot based on the fixed-circle curvature of one-side suspension of moving mechanism. Six- In the case of linked suspension, the curvature of 3 rounds of centering circle is deduced when the 3 wheels of the suspension are at different heights.