井下巡检机器人浮动式移动底盘设计与分析

为提高巡检机器人行走稳定性及越障性能，解决煤矿井下非结构化和复杂未知环境的安全巡检问题，提出一种浮动式巡检机器人移动底盘的设计方案。阐述巡检机器人浮动式移动底盘的结构设计及工作原理，分析巡检机器人越障过程，推导巡检机器人质心位置，得到越障高度与移动底盘位姿关系。运用ADAMS建立巡检机器人虚拟样机，模拟机器人在井下各种复杂路面行走及越障过程。结果表明：所设计的浮动式移动底盘提高了巡检机器人在井下复杂路面行走的稳定性，使巡检机器人具有平稳运行及良好的越障能力，进一步验证了井下巡检机器人浮动式移动底盘设计的可行性。

Design and Analysis of Floating Mobile Chassis for Underground Inspection Robot

In order to improve the walking stability and obstacle crossing performance of inspection robot,and to solve the safety inspection problem of unstructured and complex unknown environment in coal mine,a design scheme of mobile chassis of floating inspection robot was proposed.The structure design and working principle of the floating mobile chassis of the inspection robot was described,the obstacle crossing process of the inspection robot was analyzed,the centroid position of the inspection robot was deduced,and the relationship between the obstacle surmounting height and the posture of the mobile chassis was obtained.The virtual prototype of inspection robot was established by using ADAMS,the walking and obstacle crossing process of the robot on various complex underground roads were simulated.The results show that by using the designed floating mobile chassis,the walking stability of the inspection robot on the underground complex road can be improved,and the inspection robot have smooth operation and good obstacle surmounting ability,the feasibility of the floating mobile chassis design of the underground inspection robot is verified.