中文摘要：

运用虚拟样机技术，在CATIA环境下建立煤矿救援机器人三维实体模型并对其结构和运动姿态进行仿真分析。以机器人自撑起运动为例，建立其动力学模型，在ADAMS下进行运动学和动力学仿真。分析机器人在完成自撑起运动时，摆臂的速度、加速度与驱动力矩的变化规律，为煤矿救援机器人的进一步仿真分析提供依据，同时也为煤矿救援机器人控制系统设计提供可行的理论数据。

英文摘要：

Applying the technique of virtual prototype, we build the 3-D model of a mine rescue robot by using CATIA in order to simulate and analyze the structures and motions of the robot. Taking the robot＇s pushing-up by itself as an example, its dynamic model is built, and its kinematics and dynamics is simulated by using ADAMS to analyze the changing rules of its velocities, accelerations and driving moments of its swing-arms with time. The result is useful for further simulation analysis of the mine rescue robot, and for the design of its control system. prototype ; dynamic model; simulation analysis