CAJ | 학술논문

针对煤矿井下复杂的灾后地理环境，设计了可沿顶板工字钢轨道行走的矿井信息探测机器人试验平台，以探索灾后井下信息采集。利用D-H参数法建立了信息探测机器人的运动学理论模型，并通过Pro/E建模仿真模拟了该机器人沿不同倾斜度轨道行走的运动状况。通过理论与模拟结果对比，证实了所建运动学理论模型的正确及有效性，说明了该机器人的结构设计合理，该研究对矿井灾害信息探测机器人的研发具有指导意义。
침대매광정하복잡적재후지리배경，설계료가연정판공자강궤도행주적광정신식탐측궤기인시험평태，이탐색재후정하신식채집。이용D-H삼수법건립료신식탐측궤기인적운동학이론모형，병통과Pro/E건모방진모의료해궤기인연불동경사도궤도행주적운동상황。통과이론여모의결과대비，증실료소건운동학이론모형적정학급유효성，설명료해궤기인적결구설계합리，해연구대광정재해신식탐측궤기인적연발구유지도의의。
The manipulator that walks along the roof rails with three degrees of freedom designed to collect the information of underground for the complex geology condition of underground after accident. The kinematic theory model was established by D-H parameter method, the motion of robot was established and simulated on slant roadway with different angle by Pro/E software. According to contrast between theoretical and simulation results, it was demonstrated the correctness and availability of kinematic model, and it is state that the design of robot is reasonable, this research is instructive to the development of information detection manipulator in underground.