Moving mechanism design of mine-used detection robot and its gait analysis
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 q...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Department of Industry and Mine Automation
2017-06-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017.06.011 |
| _version_ | 1797868940310872064 |
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| author | CAI Lihua FANG Haifeng GAO Jinke WU Qunbiao LI Yunwang |
| author_facet | CAI Lihua FANG Haifeng GAO Jinke WU Qunbiao LI Yunwang |
| author_sort | CAI Lihua |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-10T00:03:42Z |
| format | Article |
| id | doaj.art-b5e3570a0f7c416692a55fe95d172f13 |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-04-10T00:03:42Z |
| publishDate | 2017-06-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-b5e3570a0f7c416692a55fe95d172f132023-03-17T01:41:33ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2017-06-01436475110.13272/j.issn.1671-251x.2017.06.011Moving mechanism design of mine-used detection robot and its gait analysisCAI Lihua0FANG Haifeng1GAO Jinke2WU Qunbiao3LI Yunwang4Suzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, ChinaSuzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, ChinaSuzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, ChinaSuzhou Institute of Technology, Jiangsu University of Science and Technology, Zhangjiagang 215600, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and TechnologyIn 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.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017.06.011coal mine rescuedisaster rescue robotdetection robotmoving mechanismgait analysis |
| spellingShingle | CAI Lihua FANG Haifeng GAO Jinke WU Qunbiao LI Yunwang Moving mechanism design of mine-used detection robot and its gait analysis Gong-kuang zidonghua coal mine rescue disaster rescue robot detection robot moving mechanism gait analysis |
| title | Moving mechanism design of mine-used detection robot and its gait analysis |
| title_full | Moving mechanism design of mine-used detection robot and its gait analysis |
| title_fullStr | Moving mechanism design of mine-used detection robot and its gait analysis |
| title_full_unstemmed | Moving mechanism design of mine-used detection robot and its gait analysis |
| title_short | Moving mechanism design of mine-used detection robot and its gait analysis |
| title_sort | moving mechanism design of mine used detection robot and its gait analysis |
| topic | coal mine rescue disaster rescue robot detection robot moving mechanism gait analysis |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017.06.011 |
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