井下智能巡检工作是保障人员和设备安全的重要环节。目前，轮式、履带式机器人通过多传感设备和路径规划来适应井下复杂环境，而轨道式机器人避免了地面复杂环境的影响，可进一步研究轨道的适应性和通用性，以及运行稳定性等问题。针对现有研究基础中机器人存在的悬挂轮打滑问题和机器人在柔性轨道上的摆动问题，优化并设计柔性轨道式巡检机器人本体，提出一种融合机身摆动数据的机器人绕轨防摆增稳控制方法，以提高机器人运行稳定性。主要研究内容如下：

依据滚动摩擦理论，研究悬挂轮和驱动轮数量对机器人驱动能力的影响，提出一种考虑悬挂轮、驱动轮和坡度角参数关系的柔性轨道式巡检机器人多轮牵引力数学模型，以确定出合适的悬挂轮、驱动轮数量；分析悬挂轮排布方式与机身摆动形式关系，以确定最优悬挂轮排布方式；建立机器人三维模型，在保证结构可靠的基础上加工机器人实物，并分析机器人悬挂轮不打滑的坡度角范围。

建立预紧力可调节的柔性轨道模型，研究柔性轨道悬垂度与机身俯仰变化规律，确定机器人安全上下坡时柔性轨道悬垂度范围；分析柔性轨道悬垂度影响因素，提出一种柔性轨道悬垂度定性调节方法；分析一定悬垂度下机器人运动姿态，确定本文后续研究的机身摆动形式。

研究机身绕轨摆动过程及规律，提出一种融合机身姿态反向调节质量块的防摆增稳控制方法，设计防摆结构模型；分析防摆增稳原理，构建机器人防摆增稳控制数学模型，设计防摆增稳控制器，并整定控制器参数，对防摆增稳控制方法的正确性进行试验验证。

研制柔性轨道式巡检机器人实物，搭建实验平台，进行防摆增稳控制实验，观察增稳控制效果，验证本文设计的柔性轨道式机器人绕轨防摆增稳控制方法的可行性。实验结果表明，本文优化设计的柔性轨道式巡检机器人摆动规律明确，提出的防摆增稳控制方法取得了良好的控制效果，符合研究预期，具备使用价值。

Underground intelligent inspection is an important link to ensure the safety of personnel and equipment. At present, wheeled and tracked robots adapt to complex underground environment through multi-sensor equipment and path planning, while track robots avoid the influence of complex ground environment, and can further study the adaptability and universality of tracks, as well as the running stability. Aiming at the problems of suspension wheel slippage and robot swing on flexible track existing in the existing research foundation, the flexible track inspection robot body is optimized and designed, and a method of anti-swing around the track of the robot by fusing the swing data of the fuselage is proposed to improve the running stability of the robot. The main research contents are as follows:

According to the rolling friction theory, the influence of the number of suspension wheels and driving wheels on the driving ability of robot is studied, and a mathematical model of multi-wheel traction force of flexible track inspection robot considering the parameter relationship of suspension wheels, driving wheels and slope angle is proposed to determine the appropriate number of suspension wheels and driving wheels. The relationship between suspension wheel arrangement and fuselage swing form is analyzed to determine the optimal suspension wheel arrangement; The three-dimensional model of the robot is established, and the real robot is processed on the basis of ensuring the reliable structure, and the slope angle range of the suspension wheel of the robot is analyzed.

Establish a flexible track model with adjustable pretightening force, study the variation law of flexible track drape and fuselage pitch, and determine the flexible track drape range when the robot goes up and down safely; This paper analyzes the influencing factors of flexible track drape, and puts forward a qualitative adjustment method of flexible track drape; Analyze the robot's motion posture under a certain drape degree, and determine the fuselage swing form for the follow-up study in this paper.

This paper studies the swing process and law of the fuselage around the orbit, puts forward a control method of anti-swing and stability enhancement integrating the reverse adjustment mass of the fuselage attitude, and designs the anti-swing structure model; This paper analyzes the principle of anti-swing and stability enhancement, constructs the mathematical model of anti-swing and stability enhancement control of robot, designs the anti-swing and stability enhancement controller, and adjusts the controller parameters to verify the correctness of the anti-swing and stability enhancement control method.

The flexible track inspection robot is developed, the experimental platform is set up, the anti-swing and stability increasing control experiment is carried out, the stability increasing control effect is observed, and the feasibility of the anti-swing and stability increasing control method designed in this paper is verified. The experimental results show that the swing law of the flexible track inspection robot optimized in this paper is clear, and the proposed anti-swing and stability increasing control method has achieved good control effect, which is in line with the research expectation and has practical value.

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