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为了使矿井灾难发生后矿工能够得到及时、有效的援救,提出了一种新型的矿山援救机器人,机器人采用轮式结构,配置一个5自由度手臂,采用超声波、红外两种传感器和数码照相机进行环境检测,并配备瓦斯和温度检测装置。在手臂的帮助下,机器人可以越过坍塌堆,采用旋量理论进行机器人手臂的运动学研究,解决了机器人的位形奇异性和参数法的参数不足影响计算等问题,获得的雅可比矩阵简洁易读,最后利用 Matlab验证算法的正确性
In order to make the miners receive timely and effective rescue after mine disaster, a new type of mine rescue robot is proposed. The robot adopts a wheel structure and is equipped with a 5-degree-of-freedom arm. Ultrasonic and infrared sensors and digital cameras are used for environment Testing, and equipped with gas and temperature detection device. With the aid of the arm, the robot can cross the collapsed pile and use the theory of spin theory to study the kinematics of the robot’s arm, and solve the problems such as the singularity of the robot’s position and the calculation of the parameter deficiencies of the parametric method. The obtained Jacobian matrix is simple and easy Read, and finally use Matlab to verify the correctness of the algorithm