Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face
Because the thin coal seam working face is narrow and complicated, a compact crawler robot with four rockers is designed, which has high capability of obstacle-crossing. According to the robot centroid position, the obstacle-crossing maximum heights of the robot with rockers and the robot without ro...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Emergency Management Press
2016-08-01
|
| Series: | 矿业科学学报 |
| Subjects: | |
| Online Access: | http://kykxxb.cumtb.edu.cn/article/id/11 |
| _version_ | 1797987310380253184 |
|---|---|
| author | Shang Deyong Fan Xun Zhao Jianwei |
| author_facet | Shang Deyong Fan Xun Zhao Jianwei |
| author_sort | Shang Deyong |
| collection | DOAJ |
| description | Because the thin coal seam working face is narrow and complicated, a compact crawler robot with four rockers is designed, which has high capability of obstacle-crossing. According to the robot centroid position, the obstacle-crossing maximum heights of the robot with rockers and the robot without rockers are both optimized. The obstacle-crossing maximum height of the robot with rockers is 232.91 mm, which can meet the design requirements. The obstacle-crossing processes are virtually simulated in ADAMS, and the change rule of the drive motor output torque is analyzed for reasonable motor selection. Finally, the experimental walking mechanism prototype is tested for obstacle-crossing. The results have shown that this structure robot has high obstacle-crossing capability and high adaptability, which can meet the special requirements of the thin coal seam working face. |
| first_indexed | 2024-04-11T07:46:48Z |
| format | Article |
| id | doaj.art-0546c6ee178c4e979c593f7348550d2a |
| institution | Directory Open Access Journal |
| issn | 2096-2193 |
| language | English |
| last_indexed | 2024-04-11T07:46:48Z |
| publishDate | 2016-08-01 |
| publisher | Emergency Management Press |
| record_format | Article |
| series | 矿业科学学报 |
| spelling | doaj.art-0546c6ee178c4e979c593f7348550d2a2022-12-22T04:36:15ZengEmergency Management Press矿业科学学报2096-21932016-08-01116773Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam faceShang Deyong0Fan Xun1Zhao Jianwei2School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, ChinaBecause the thin coal seam working face is narrow and complicated, a compact crawler robot with four rockers is designed, which has high capability of obstacle-crossing. According to the robot centroid position, the obstacle-crossing maximum heights of the robot with rockers and the robot without rockers are both optimized. The obstacle-crossing maximum height of the robot with rockers is 232.91 mm, which can meet the design requirements. The obstacle-crossing processes are virtually simulated in ADAMS, and the change rule of the drive motor output torque is analyzed for reasonable motor selection. Finally, the experimental walking mechanism prototype is tested for obstacle-crossing. The results have shown that this structure robot has high obstacle-crossing capability and high adaptability, which can meet the special requirements of the thin coal seam working face.http://kykxxb.cumtb.edu.cn/article/id/11thin seaminspection robotwalking mechanismperformance of obstacle crossing |
| spellingShingle | Shang Deyong Fan Xun Zhao Jianwei Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face 矿业科学学报 thin seam inspection robot walking mechanism performance of obstacle crossing |
| title | Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| title_full | Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| title_fullStr | Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| title_full_unstemmed | Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| title_short | Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| title_sort | walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face |
| topic | thin seam inspection robot walking mechanism performance of obstacle crossing |
| url | http://kykxxb.cumtb.edu.cn/article/id/11 |
| work_keys_str_mv | AT shangdeyong walkingmechanismdesignandanalysisonobstaclecrossingforinspectionrobotinthincoalseamface AT fanxun walkingmechanismdesignandanalysisonobstaclecrossingforinspectionrobotinthincoalseamface AT zhaojianwei walkingmechanismdesignandanalysisonobstaclecrossingforinspectionrobotinthincoalseamface |