中文摘要：

通过分析机器人摆臂姿态变化对机器人质心轨迹变化的影响,掌握了六履带四摆臂煤矿探测机器人摆臂姿态与垂直越障性能的关系,提出了机器人在攀越垂直型障碍时前后摆臂的姿态控制要求,得到了机器人越障高度Hmax及其俯仰角度αm与机器人各参数之间的关系式,当其俯仰角度大于αm时,机器人就不能够攀越此类型障碍。同时分析了机器人摆臂质量对垂直越障性能影响的,得出可以通过增大摆臂质量来提高机器人对垂直型障碍的越障能力。

英文摘要：

The relationship between the arms＇ attitude of the six-track coal mine rescue detecting robot with four swing arms and its capacity of vertical obstacle-surmounting are grasped by analyzing the effects from the attitude change of the four swing arms to the change of the trajectory of the robot＇s CM （center of mass）. The control requirements of the swing arms have been proposed when the robot climb vertical obstacles. The relationship formulas between the maximum vertical obstacle-surmounting height Hmax and its pitch angle αm and the robot＇s parameters, and the robot could not climb this type of the obstacles when robot＇s pitch angle are greater than αm.