外文文献翻译、摇臂式煤矿救援机器人移动平台外文翻译、中英文翻译

翻译部分：英文原文Mobileplatformofrocker-typecoalminerescuerobotLIYunwang,GEShirong,ZHUHua,FANGHaifang,GAOJinkeSchoolofMechanicalandElectricalEngineering,ChinaUniversityofMining&Technology,Xuzhou221008,ChinaAbstract:Afteracoalminedisaster,especiallyagasandcoaldustexplosion,thespace-restrictedandunstructuredundergroundterrainandexplosivegasrequirecoalminerescuerobotswithgoodobstaclesurmountingperformanceandexplosion-proofcapability.Forthistypeofenvironment,wedesignedamobileplatformforarocker-typecoalminerescuerobotwithfourindependentdrivewheels.Thecomposi-tionandoperationalprinciplesofthemobileplatformareintroduced,wediscusstheflameproofdesignoftherockerassembly,aswellastheoperationalprinciplesandmechanicalstructureofthebevelgeardiffer-entialandthemainparametersareprovided.Motionsimulationofthedifferentialfunctionandconditionoftherobotrunningonvirtual,uneventerrainiscarriedoutwithADAMS.Thesimulationresultsshowthatthedifferentialdevicecanmaintainthemainbodyoftherobotatanaverageanglebetweentworockers.Therobotmodelhasgoodoperatingperformance.Experimentsonterrainadaptabilityandsurmountingobstacleperformanceoftherobotproto-typehavebeencarriedout.Theresultsindicatethattheprototypehasgoodterrainadaptabilityandstrongobstacle-surmountingperformance.Keywords:coalmine;rescuerobot;rockersuspension;differential;explosion-proofdesignIntroductionIntherescuemissionofagasandcoaldustexplosion,rescuerseasilygetpoisonedinundergroundcoalminesfulloftoxicgases,suchashigh-concentrationCH4andCO,ifventilationandprotectionarenotuptosnuff.Furthermore,secondaryormultiplegasexplosionsmaybecausedbyextremelyunstablegasesaftersuchadisasterandmaycausecasualtiesamongtherescuers[1].Therefore,inordertoperformrescuemissionssuccessfully,ingoodtimeanddecreasecasualties,itisnecessarytodevelopcoalminerescuerobots.Theyarethensenttoenterthedisasterareainsteadofrescuersandcarryouttasksofenvironmentaldetection,searchingforwoundedminersandvictimsafterthedisasterhasoccurred.Theprimarytaskoftherobotsinrescueworkistoenterthedisasterarea.Itisdifficultforrobotstomoveintorestrictedspacesandunstructuredundergroundterrain,sothesemobilesystemsrequiregoodobstacle-surmountingperformanceandmotionperformanceinthisruggedenvironment[2].Theapplicationofsomesensorsusedforterrainidentificationareseverelyrestrictedbylowvisibilityandsurroundingsfullofexplosivegasanddust;hence,aputativemobilesystemshould,asmuchaspossible,beindependentfromsensingandcontrolsystems[3].Studiesofcoalminerescuerobotsarejustbeginningathomeandabroad.Mostrobotprototypesaresimplewheeltypeandtrackrobots.Themineexplora-tionrobotRATLER,developedbytheIntelligentSystemsandRoboticsCenter(ISRC)ofSandiaNationalLaboratories,usesawheeltypemobilesystem[4].TheCarnegieMellonUniversityRobotResearchCenterdevelopedanautonomousmineexplorationrobot,called“grOiirBhthgtheminerescuerobotV2producedbytheAmericanRemoteCompanyandtheminesearchandrescuerobotCUMT-1developedbyChinaUniversityofMiningandTechnology,useatwo-trackfixedtypemovingsystemt6-7].Thesefourprototypesareseverelylimitedinundergroundcoalmines.Rockertyperobotshavedemonstratedgoodperformanceoncomplexterrain.AllthreeMarsrovers,i.e.,Sojourner,SpiritandOpportunityusedmobilesystemswithsixindependentdrivewheels®9].Rocker-Bogie,developedbytheAmericanJPLlaboratoryhaslandedsuccessfullyonMars.TheSRRrobotfromtheJPLlaboratorywithfourindependentdriveandsteeringwheelsconsistsofamovingrockerassemblysystem,similartothefourwheel-driveSR2developedbytheUniver-sityofOklahoma,USA[10].Bothtestsandpracticalexperiencehaveshownthatthistypeofsystemhasgoodmotionperformance,canadaptpassivelytouneventerrain,possessestheabilityofselfadaptationandperformswellinsurmountingobstacles.Giventheunstructuredundergroundterrainenvironmentandanatmosphereofexplosivegases,weinvestigatedacoalminerescuerobotwithfourindependentdrivewheelsandanexplosion-proofdesign,basedonarockerassemblystructure.Weintroducethecompositionandopera-tionalprinciplesofthismobilesystem,discussthedesignmethodofitsrockerassemblyanddifferentialdeviceandcarriedoutmotionsimulationofthekinematicperformanceofthetherobotwithonADAMS,acomputersoftwarepackage.Intheend,wetestedtheterrainadaptabilityandperformanceoftheprototypeinsurmountingobstacles.MobileplatfoiW-12]OfAsshowninFig1,themobileplatformoftherocker-typefour-wheelcoalminerescuerobotincludesamainbody,agear-typedifferentialdevice,tworockersuspensionsandfourwheels.ThetheshellofthedifferentialdeviceisattachedtotheinteriorofthethemainbodyThetwoextendedshaftsofthedifferentialdevicearesupportedbytheaxleseatsintheoflat-toearlyplateofthemainthebodyandconnectedtotherockersuspensionsinstalledatbothsidesofthemainthebody.ofThefourwheelsareseparatelyconnectedtotheofbevelgear,transmissionatthetheterminalofthefourlandingstretchourlegs.atThefourwheelsareindependentlydrivenbyaDCmotorisinstalledinsidethelandingstretchourlegs.oftherockersuspensionflameproofdesignofthetostretchourlegs.hasbeendeveloped,whichincludesaflameproofmotorcavityfromandaflameproofconnectioncavity.Viaacableentrydevice,thepowerandcontroloftheDCmotorcablesareconnectedtothepowerandcontrollerofthemainthebody.Fig.1Rocker-typefour-wheelmobileplatfoimRockersuspensionFunctionTheprimaryroleoftherockersuspensionistoprovidethemobileplatformwithamobilesystemthatcanadapttotheunstructuredundergroundterrain,suchasrails,steps,ditchesanddepositofrockandcoaldumpsbecauseofthecollapseofthetunnelroofafteradisaster.Byconnectingthedifferentialdeviceintermediatebetweenthetworockersuspensions,thefourdrivewheelscantouchtheunevengroundpassivelyandthewheelscanbeartheaverageloadoftherobotsothatitisabletocrosssoftterrain.Thewheelscansupplyenoughpropulsion,whichallowstherobottosurmountobstaclesandpassthroughuneventerrain.2.1.2StructureAsshowninFig.1,therockersuspensioniscomposedofaconnectingblock,landinglegsandbevelgeartransmissions.Theanglebetweenthelandinglegsoneachsideofthemainbodyiscarefullycalibrated.Thelegsareconnectedtotheconnectingblockandtheterminals,whichinturnareconnectedtothebevelgeartransmissions.Fig.2illustratesthecal.TheDCmotorisinthelegandfixedtotheconnectingcylinder.Themotorshaftconnectstothebevelgeartransmissionandthewheelisalsoconnectedtothetransmission.Theuppersectionhasablindcenterholethroughwitchaconnectionisformedtothebottomsection,viaaconnectioncavity.Throughthecableentrydeviceoftheuppersection,themotorpowerandcontrolcablefromthemainbodyoftherobotareputintotheconnectioncavityandconnecttothewiringterminalswhich,inturn,connecttotheguidancewiresinthewireholder.Anotherendoftheguidancewiresconnectstothemotorinthebottomsection.

WheE,(ShaftsleeveFlamepfacifcavityCotmectioncavity'iComiectinec\7liader'1\ /. \WireholsectionCable的畤海道DC'motorp.「 ''..CablesectionCable1 Flan丽内硝oints \F^meproofjointsseattrausnikssicnBottomsectionFig.2FlameproofEtmctiueofthelandinglegAcoalmineenvironmentisfullofexplosivegases;hence,arescuerobotmustbedesignedtobeflame-proof.TheDCmotors,fordrivingeachwheel,areinstalledinthelandinglegsoftherockersuspensions.Atthepresentlow-poweredDCmotors,availableinthemarket,areofastandarddesignandnotflame-proof,henceaflameproofstructureforthesemotorsmustbedesigned.Giventhestructuralfeaturesoftherockersuspension,itisverymuchnecessarythataflameproofdesignforthelandinglegsbecarriedout.Therearetwoimportantpointstobeconsideredinthisflameproofdesign.First,aflameproofcavityisneeded,inwhichthestandardDCmotorisinstalled.Giventheflameproofdesignrequirements,agroupofflameproofjointsshouldbeformedbetweenthemotorshaftandtheshafthole.Generally,themotorshaftmadebythemanufactureristooshorttocomplywiththerequirementofflameproofjoints,sothemotorshaftneedstobeextended.Second,aflameproofconnectioncavityshouldbedesignedtoleadthecableintotheconnectioncavitythroughaflameproofcableentrydevice.DCmotors,especiallybrushDCmotors,maygeneratesparksinnormalrunningandwhenthemotorloadishigh,theworkingcurrentmaybemorethan5A,whichexceedsthecurrentlimitinAppendixC2oftheNationalStandardGB3836.2-2000ofChina.Therefore,themotorpowerandcontrolcablecannotbedirectlyintheconnectioncavity.Giventheserequirements,thelandinglegshavebeendesignedasflameproofunits,asshowninFig.2.Anelongatedshaftsleevehasbeenassembledfromthemotorshaft,withthesameinsideradiusasthatofthemotorshaftandthisishowthemotorshaftisextended.Thefrontflangeofthemotorisfixedtotheintermediateplateoftheconnectingcylinder.Themotorshaftwiththeshaftsleevepassesthroughthecenterholeembeddedwithabrassbushandthenconnectstotheinputgearofthebevelgeartransmissionattheendofthebottomsectionofthelandingleg.Therefore,flameproofjointsareformedbetweenthemotorshaftandtheshaftsleeve,aswellasbetweentheshaftsleeveandthebrassbush.Theterminalofthebottomsectionofthelegconnectstotheconnectingcylinderandaflameproofjointisformedbetweentheexternalcylindricalsurfaceoftheterminalandtheinnercylindersurfaceoftheconnectingcylinder.Thereisalsoaflameproofconnectioncavityintheuppersectionoftheleg.Inordertosavespace,theguidancewireissealedtogetherwiththewireholderusingasealant.Theseatoftheguidewireisinstalledintheholeoftheuppersectionofthe

landingleg.Anotherflameproofjointisformedbetweenthewireholderandthehole.Thecavityoftheuppersectionconnectstotherabbetstructureofthebottomsection,withyetanotherflameproofjoint.Thereisaflame-proofcableentrydeviceattheendoftheuppersectionofthelandingleg.Hence,aflameproofconnectioncavityisformedintheuppersectionoftheleg.Basedonthestructuredescribed,thestandardDCmotorwasinstalledintheflameproofcavityofthebottomsectionoftheleg.Thepowerandcontrolcablesofthemotorconnecttotheflameproofconnectioncavityofitsuppersectionthroughawireholder.Moreover,thecablefromtheflameproofmainbodyoftherobotconnectstotheconnectioncavityviatheflameproofcableentrydevice.Thus,theflameproofdesignofthelandinglegoftherockersuspensionsectionwascompleted.2.2Differentialdevice【13151CharacteristicsofthedifferentialmechanismThedifferentialMechanismofarocker-typerobotisamotiontransfermechanismwithtwodegreesoffreedom,whichcantransformthetworotatinginputsintoarotatingoutput.Theoutputisthelinearmeanvaluesofthetwoinputs.Ifwelet1and2betwoangularvelocityinputs,theangularvelocityoutput,叫and%,worotationalangleinputsand3berotationalangleoutput,wehave:3+3 3+p3:122,中;122Tworotationalinputcomponentsconnecttotheleftandtherightrockersuspensionoftherobotandtheoutputcomponentconnectstothemainbodyoftherobot.Inthisway,theswinganglesoftheleftandrightrockersuspensionsareaveragedbythedifferentialmechanismandthemeanvalue,transformedintotheswingangle(pitchingangle)ofthemainbody,istheoutput.Itiseffectiveindecreasingtheswingofthemainbodyandthusreducestheterraineffect.Takingthemainswingangleofthemainbodyasinputandtheswinganglesoftheleftandtherightrockersuspensionasoutputs,therotationalinputisdecomposedintotwodifferentrotationaloutputs.Iftheoutputisthemeanvalueoftwoinputs,itishelpfultoallocatetheaverageweightofthebodytoeachwheelwhichcanadjustitspositionpassivelyaloneintheterrain.Giventhecharacteristicsandoperatingrequirementsofdifferentialmechanisms,abevelgeartypedifferentialmechanismhasbeendesigned.Wehaveanalyzedtheworkingprincipleofthebevelgeardifferentialmechanismandpresentitsdetailedstructuraldesign.2.2.2PrincipleofthebevelgeardifferentialmechanismFig.3showstheschematicdiagramofthebevelgeardifferentialmechanism.Twosemi-axlebevelgears1and2meshwiththeplanetarybevelgear3orthogonally.CarrierHconnectstoplanetarybevelgear3coaxially.Lettheangularvelocitiesofgears1,2,3andcarrierHbe叫、32、33and3H.LetthenumberoftheirteethbeZ1,Z2andZ3,whereZ1,Z2.Lettherotationalanglesofgear1,2andcarrierHbe电、%、9H.IfwelettherelativeHthenwehave:, co—co Z,ZiH=-1 H=—T——2=—112箕—O ZjZ3Weobtain3二0/and①二上坦2 h2Fig.3SchematicdiagramofthediSerentialmechaaisni2.2.3BevelgeardifferentialdeviceGiventheaboveprincipleofabevelgeardifferentialmechanism,wedesignedsuchabevelgeardifferentialdevice,showninFig.4.Fig.4aistheoutlineofthedifferentialdevice,andFig.4bitsinternalStructure.Thisbevelgeardifferentialdeviceiscomposedofashell,endcovers,anaxlebase,semi-axlebevelgears,planetarybevelgears,aconnectingshaft,etc.Theendcoversandaxlebedsconnecttotheshellbyscrews.Intheshell,twoplanetarybevelgearsarecoaxialandsymmetricallyinstalledattheconnectingshaft,withtheshaftterminalssupportedattheendcovers.Therearebearingsbetweentheconnectingshaftandbevelgears.Thecirclipsareinstalledontheconnectingshafttolimittheloadonthebearings.Twosemi-axlebevelgearsarehousedinthetwoaxlebedsseparately,twoaxlebedsarefixedontheshellsymmetricallyandtwosemi-axlebevelgearsmeshwithtwoplanetarybevelgearsorthogonally.Thetwoaxlebaseshavethesamestructure.Thesemi-axlebevelgearsarelocatedbythebearings,shaftsleeveandcirclipsintheaxlebeds.Whenthedifferentialdeviceisinstalledontherobot,thetwoaxlesoftheleftandrightsemi-axlebevelgearsareconnectedtotheleftandrightrockers.Theshellofthedifferentialisfixedonthemainbodyoftherobot2.3BasicparametersoftherobotmobileplatformFig.5showstheleadingdimensionsoftherobotmobileplatform.Thelengthofthelegl=360mm,theangleofthelegsq=90,thediameterofthewheeld=200mm,thedistancebetweenthefrontandtherearwheel2sin5092elq570=mm,thewidthoftheroboti=670mm,thedistanceoftherockerrotationalcentertothegroundcos354.522dglq=670mm,theoutlinedimensionsofthemainbodya=400,b=200,f=310mm,theheightoftherobotplatformc=522mmandthegravity(G)heighth=360mm.Therangeoftheswingingangleoftheleft(1。)andtheright(2。)rockeris(45°~45°).LetthepitchandhorizontalrollanglebeaandB,thenthemaximumallowablepitchandhorizontalrollangleareasfollows:Fig.5Fig.5Leadingdimensiaflsoftherocket-iTy'pecoalminerescuerobotmobileplatformmax(a)=arctan—=509=35.2。2h2义360max(pmax(p)=arctan=670=42.9。2h2义360Theweightoftherobotplatformis20kganditsmaximumloadcapacityis15kg.TherobotplatformisdrivenbyfourDCmotorswith60Wpower.Itsmaximumspeedis0.32m/s.3MobileplatformtestSimulationtestAnaccurate,simulated3DmodeloftherobotwasImportedintotheADAMSsoftware.UsingthekinematicpairsinthejointsdatabaseoftheADAMS/View,themovementofeachpartofthesimulationmodelisconstrained.Forsimulatingthedifferentialactionofdifferentialdevicesactingontherobotbody,arevolutejointbetweentheleftandrightrockersofthemodelandthe“Ground”isestablished.Randommomentsofforcesareexertedtotheleftandrightrockerstosimulatetheroughactionoftheterrainontherockers.Forsimulatingthemovementsofthedifferentialdeviceaccurately,contactforcesareexertedtothepairofgearsofthedifferentialdevice.Aftercorresp-1.02a3口4.0TimefS)C：0oG1.02a3口4.0TimefS)C：0oGc020432IT<Fig.6Swinganglesofmainbodyandtftrorocker?ondingmarkerpointsontherobotareestablished,theswinginganglesoftheleftandrightrockersandtherobotbodyaremeasuredandthecurvesoftheswinginganglesalongwiththetimeareobtainedviathe

ADAMS/Postprocessormodule,showninFig.6.Curves1and2areswinganglecurvesofthetworockers,whilecurve3istheswinganglecurveofthemainbody.Thebevelgeardifferentialdevicecanaveragetheswinganglesoftherightandleftrockers,andtheaveragevalueistheswingangleofthemainbody.Thegapbetweentwoteethandotherfactorscausethereturndifferenceofthegeardrive,sowhenthemainbodyisswingingattheearlystart-upandthroughthezeroangle,thereisaslightswingingangledeviationbetweenthesimulatedandtheoreticalvalues.Typicalsteps,channels,slopesandothercomplexterrainmodelsarebuiltintheSolidWorkssoftware.Fortestingthetrafficabilitycharacteristicsandridecomfortofthefourwheelrobot,all-terrainsmodelsareimportedintotheADAMSsoftware[16-17].Thenthejointsandrestraintsarerebuilt,ContactForcebetweentheterrainandthewheelsisexertedandtorqueisexertedtoeachwheel.Therunningconditionoftherobotissimulatedonthecomplexterrain,asshowninFig.7a.Theverticaldisplacement,velocityandaccelerationcurvesofthecentroidofthebodyandthecentersofthefourwheelscanbeobtained,asshowninFigs.7b-7d.Accordingtothecurves,thecurveofthecentroiddisplacementofthemainbody(mainbody_dcurve)isverysmoothandthevelocityandaccelerationofthemainbodyisapproximatelythemeanofthatofthefourwheels.Thesimulationresultsshowthatthemobileplatformoftherobothasgoodtrafficabilityandridescomfortablyonthecomplexterrain.MambodvvWheel]V-5CH300032500015007500750-1500Timp(S)0.3750.750—•WheeB、Fig.7RutmingsimulationofrobotoncomplexterrainMambodvag11a.Wheel：a•MambodvvWheel]V-5CH300032500015007500750-1500Timp(S)0.3750.750—•WheeB、Fig.7RutmingsimulationofrobotoncomplexterrainMambodvag11a.Wheel：a•WhteiraJ-WheeMaV-20000QL-1.75Tinw.(s)PrototypetestInordertoverifytheperformanceoftherobotinsurmountingobstaclesandadaptingtoacomplexterrain,anobstacle-surmountingtestoftherobotwascarriedoutonasimpleobstaclecoursebuiltinthelaboratoryandonacomplexoutdoorterrainbestrewnwithmessybricksandstones.Fig.8showsthevideoimageoftherobotwhenmovingonthecomplexterrain.Thetestsindicatethatthefourdrivewheelsoftherobotcanpassivelykeepcontactwiththeunevengroundandtherobotperformedwellinsurmountingobstacles.Whenmovingonunevenground,theswingangleofthemainbodywassmallandthedifferentialdevicecouldeffectivelyreducetheeffectofthechangingterraintothemainbody.Onesideoftherobotcancrossa260mm-highobstacle.Onlylargeobstaclesbetweenthelandinglegsoftherockersappeartoblockprogress.Theperformanceinsurmountingobstaclesbythefourwheelsoftherobotsisclearlybetterthanthatofatrack-typerobotofthesamesize.4ConclusionsCoalmineaccidents,especiallygasandcoaldustexplosions,occurfrequently.Therefore,itisnecessarytoinvestigateanddevelopcoalminerescuerobotsthatcanbesentintominedisasterareastocarryouttasksofenvironmentaldetectionandrescuemissionsafterdisastershaveoccurred,insteadofsendingrescuerswhichmightbecomeexposedtodanger.Fig.0RunningtestofrobotoncomplexterrainAnundergroundcoalmineenvironmentpresentsaspace-restricted,unstructuredterrainenvironment,withalikelyexplosivegasatmosph-ereafteradisaster.Hence,anymobilesystemwouldrequireahighmotionperformanceandobstacle-surmountingperformanceoncomp-exterrain.Givenanunstructuredundergroundterrainenvironmentandanexplosiveatmosphere,weinvestigatedanexplosion-proofcoalminerescuerobotwithfourindependentdrivewheels,basedonarockertypestructure.Oursimulationandtestresultsindicatethattherobotperformssatisfactorily,canpassivelyadapttouneventerrain,isselfadaptiveandperformswellinsurmountingobstacles.Inourstudy,weonlyinvestigatedtherocker-typemobileplatformofacoalminerescuerobot.Inordertoadapttotheundergroundcoalmineenvironment,wealsocarriedoutaflameproofdesignforthemainbody.Itwasnecessarytoimprovetherockersuspensionsinorderfortherobottobeabletoadjusttheanglebetweentwolandinglegsautomatically,sothattheheightofthecenterofgravityoftherobotcanbecontrolled,whichshouldimprovetheanti-rolloverperformanceoftherobot.中文译文摇臂式煤矿救援机器人移动平台摘要煤矿灾害之后，尤其是气体和煤尘爆炸后，地下空间限制和非结构化的地形以及爆炸性气体的存在，需要具有良好的越障性能和防爆稳定性的煤矿救援机器人。对于这种类型的环境，我们设计了四个独立的摇臂式煤矿救援机器人移动平台和独立驱动的车轮。介绍了移动平台的组成和运作方式，我们讨论了矿用隔爆型设计摇臂以及它的运行方式和锥齿轮差速器的机械结构。使用ADAMS软件模拟了不平坦的虚拟地形对机器人进行仿真实验。仿真结果表明，差动装置能保持一个机器人的主体在摇晃中的平衡。机器人模型具有良好的实用价值。对机器人原型已经进行了地形的适应性和越障性能的实验。结果表明，样机具有良好的地形的适应性和强大的越障性能。关键词：煤矿救援机器人；摇臂悬挂；特殊性；防爆设计1介绍在瓦斯和煤尘爆炸的事故中执行救援任务，救援人员容易在充满有毒的气体的煤矿井下中毒，如高浓度CH4和CO,如果保证不了通风就会出现事故。止匕外，多种气体混在一起形成极不稳定的混合气体引发爆炸，并可能造成救援人员伤亡［1］。因此，为了执行救援任务成功，争取救援时间和减少伤亡，就必须发展煤矿救援机器人。机器人代替了救援人员进入灾区和执行任务的环境检测、搜寻受伤的矿工和灾难发生后的幸存者。这个机器人搜救工作的首要任务是进入灾区。这是困难的机器人进入限制空间和非结构化的地下地形，所以这些移动系统需要很好的越障性能和运动性能在这种恶劣环境执行任务⑵，使用一些传感器能够在低能见度和充满爆炸性气体和尘埃的环境下完成对地形的识别；因此，假定的移动系统应该尽可能是独立的传感器和控制系统⑶。国内和国外煤矿救援机器人的研究才刚刚起步。大多数机器人原型都是简单的轮式和跟踪机器人。桑迪亚国家实验室智能系统和机器人技术中心（由口。所开发的矿山勘探机器人RATLER，使用的是轮式移动系统［4］。卡内基梅隆大学的机器人研究中心开发了一个自治的矿藏的开采机器人，称为“Groundhog笺］。由Remotec公司制造的V2煤矿井下搜救探测机器人和中国矿业大学的CUMT-1，使用一个双履带的移动系统［6-7］。这四个样品都受到地下煤矿环境的严重限制。摇臂式机器人在复杂的地形下已经具有良好的性能。所有三个火星探测器，“索杰纳”、“勇气号”、“机遇号”火星车均采用了六轮独立驱动的摇杆-转向架移动系［8-9］。美国喷气推进实验室开发出来的Rocker-Bogie，实验成功登陆上火星。SRR机器人实验室与喷气推进实验室四个独立的驱动和方向盘组成一个移动摇臂总成系统，类似于美国俄克拉何马州大学的研制的四轮驱动的SR2［10］。这两个测试和实践经验已经证明这种类型的系统具有良好的运动性能，能适应不均匀地形，拥有适应性和良好的越障能力。鉴于非结构化地下地形环境和一个爆炸性气体的气氛，我们调查了煤炭矿井营救机器人使用四个独立驱动轮和一个防爆设计，基于摇臂总成结构。我们介绍的成分和这个移动系统的工作原理，讨论它的设计方法和差分摇臂总成设备并进行了运动模拟的机器人的运动学性能与ADAMS计算机软件包。最后，我们检测了机器人原型的地形适应性和越障性能。2移动平台［"I图1所示，移动平台的摇臂式四轮煤矿营救机器人包括一个主体，齿轮式差动设备，两个摇臂悬挂和四个轮子。外壳通过差动设备连接到内部主体。差动的两个扩展槽设备支持在横向的轴座板的主体，并连接到两边的安装摇臂悬浮主体上。四个轮子分别连接到锥齿轮传动终点站四个着陆的腿。四个轮子都是独立的由一个直流电机驱动，安装在着陆腿悬挂的摇臂下。一个用隔爆型设计腿已经制定，其中包括用隔爆型电机腔和隔爆型连接腔。通过电缆入口装置，电源和控制直流电动机的电缆连接到电源和控制器的主体。Fig.1Rocker-typefour-wheelmobileplatfonn摇臂悬挂功能摇臂悬架的主要作用是提供的移动系统能适应非结构化井下地形的移动台，像轨道，台阶，壕沟和岩石的矿床等由于隧道顶部倒塌的煤炭倾倒灾难发生后。通过连接差动装置中间之间的两个摇臂悬浮液，四个驱动轮可以接触到凹凸不平的地面被动车轮可以承受的平均负载机器人，所以，它是能够跨越软地形。车轮可以提供足够的推进力，使机器人通过超越不均匀的障碍，并通过地形。结构正如图1所示，摇臂悬挂组成连接块，着陆腿和锥齿轮传动。着陆之间的角度每个主体一侧的腿被仔细校正。腿被连接到连接块和终端，这反过来又连接锥齿轮传动。图2说明结构降落腿。它分为上层和底部。底部是圆柱。直流电动机是在腿和固定连接缸。电机轴连接到锥齿轮传动和轮也连接传输。上部有中心盲孔连接是通过箕舌线形成的底部，通过连接腔。通过电缆入口装置的上半部分，

/heeJiaftsleeveFlameproofcavity/heeJiaftsleeveFlameproofcavityCouiiectioncavity'iCcnnectuiffcyliader\ \Uppersection[/ \WirehoJder\\Cable,■ 「「 DCmotor：口''..Cableentr>rJ1 Hameproofjoints FhmeproofjointsBe\ielgearirftnsmissicifiBottomsectionFig.2FlameproofEtnictiiieofthehndiagleg.舫爆设计一个煤矿环境充满爆炸性气体；因此，营救机器人必须设计为隔爆型。直流电机，用于驱动每个轮子，是安装在着陆的腿摇臂中。在目前的低功率的直流电机，可选市场，是标准的设计而不是防爆、因此一个防爆结构对于这些汽车必须设计。给定的结构特点摇臂悬架，它非常有必要防爆设计为着陆的腿被执行。有两个重要的问题需要考虑这型矿用隔爆型设计。首先，需要一个防爆腔，在这种标准直流电机安装。鉴于防爆设计要求，一群关节型矿用隔爆型电动机应之间形成轴和传动轴洞。通常，电机轴由制造商太短的遵守防爆关节的要求，因此电机轴需要扩展。其次，采用防爆连接型腔应设计成领导电缆到连接腔通过隔爆型电缆条目设备。直流电机，尤其是有刷直流电机，可能产生的火花在正常运行和当电机负载很高，工作电流可能超过5A，这超过了当前的限制附录C2中国国家标准的要求GB3836.2-2000。因此，电动机电源和控制电缆不能直接在连接腔。考虑到这些要求，着陆的腿上有被设计为隔爆型单位，如图2所示。一个细长轴套筒组装而成的电机轴，在同样的半径内的电机轴，这是电机轴被扩展。前面的法兰电机的固定在中联板的连接缸。这个电机轴轴袖的经过中心孔嵌有黄铜布什然后连接到输入齿轮传动齿轮最后的底部的着陆腿。因此，隔爆型关节之间形成的电机轴和传动轴套筒之间，以及轴套筒和黄铜。终端底部的腿的连接连接圆筒和隔爆型联合组成外部圆柱表面之间的终端圆柱表面和内部的连接缸。还有一个防爆连接腔腿的上层。为了节省空间，指导线是密封连同电线持有人使用密封剂。导线的座位安装在洞的着陆支架的上层。另一个防爆联合间形成电线持有人和洞。上层的空腔连接到榫接结构的底部，用另一个防爆联合。有一个防爆电缆入口设备结束时的上层着陆的腿。因此，隔爆型连接腔形成的上层的腿。基于结构描述，标准直流汽车被安装在隔爆型孔的腿的底部。电力和控制电缆电机的连接到防爆连接腔的上层通过导线持有人。此外，电缆防爆主体机器人的连接到连接腔通过防爆电缆入口设备。因此，防爆设计的着陆支架的摇臂悬挂部分。差动装置摇杆式机器人差动机构是一种二自由度运动转换机构，能够将2个转动输入转化为1个转动输出，且输出为两个输入的线性平均值。设两个输入为转速叫、吗，输出为转速①。，两个输入为转角、输出为转角中，则应满足以下关系式:3+3 ①+①3二一1 2-，Q=—i——-22 2将该机构的两个输入分别与机器人的左右摇杆部分连接，将其输出与机器人主车体连接，这样，该机构可将机器人左右摇杆的摆角进行线性平均，并转化为机器人主车体的摆角输出，以保持机器人主车体的相对平衡，有效地减小地形变化对主车体的影响。若把机器人主车体的摆角视为输入，左右两摇杆的摆角为输出，则该机构将此转动输入分解为两个不同的转动输出，则输入为两个输出的线性平均值，这样有助于机器人较为均匀地向各个车轮分配车体重量，且可使得各车轮能随着地面的起伏被动地自由调整位置，以适应复杂的地形环境。圆锥齿轮齿合型差动机构的原理图如图3所示，两中心锥齿轮1、2均与行星锥齿轮3正交齿合，系杆H支撑行星锥齿轮3。设齿轮1、2、3与系杆H的转速分别为叫、吗、33、3H；齿轮的齿数分别为4、z2、Z3,则Z「Z2；齿轮1、2及系杆H的转角分别为：%、/、9h，则锥齿轮1、2相对系杆H的传动比为. 3—3Z,ZiH=-1 H=—T——2-=—1123—3 Z・Z可得3=31+32和3=*+Q2 H2Fig.3SchematicdiagramofthediS