| Summary: | In order to adapt to complex terrain in coal mine underground, a moving mechanism of mine-used detection robot was designed. The robot has a circular body, and its 6 legs are uniformly distributed around the body. The body and legs are processed by use of high strength aluminum alloy material, and quality of the robot prototype is only 800 g. Straight line walking gait, turning point gait and motion ability of the robot were analyzed. A simulation model of the robot was built by use of Solidworks and ADAMS software, and the model and prototype were tested. The test results show that the maximum implementation angle of the robot is 24° in once rotation. Thus the robot can complete rotation with any degree in twice rotation. Average speed of the robot is 0.1 m/s in straight link walking, and displacement, velocity and acceleration changes regularly. The robot moves smoothly without obvious jitter.
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