| Recurrent mining accidents not only caused loss of life and property but alsobring negative effects to the social stability and. governmental reputation. When mineaccident occurs, how to conduct the emergency rescue to recover the loss of life andproperty by the greatest extent is always a hot issue studied by many countires. Thedisaster mine has the following features: complex environment, confined space, iflledwith explosive gas, these features make it very difficult to the rescue work and bringthe injury to succors. The accidents of casualties to trapped miners and injury tosuccors caused by poor rescue frequently occurred. With the development of robotand intelligence technology, the robot can replace human to enter into disaster mineand collect the information such as temperature, the structures of roadway, density ofgas and carbon monoxide and send this information to command organization, theseworks have important signiifcance to the rescue work. In addition the rescue robot caneven carry food，water, medicine, life detection instrument and so on to take part inthe work of life rescue directly.Currently, mine rescue robot mainly includes tracked robot and legged robot，theenvironment adaptation of these kinds of robots is not good and the scale is large. Sothey can not enter into narrow space，especially they can not move ahead when theyare faced with bottleneck area, that will influence the progress of rescue work. Wedesigned a groundhog mine rescue robot with six legs. The terrain adaptation of thisrobot is good, and it can crawl in narrow space and drift ahead in ruins, so this robotcan decrease the fields of the blind area of detection. The thesis searched the keytechnologies of the control system for groundhog mine rescue robot, the main work ofthe thesis is as follows:The thesis studies the kinematics and dynamics of the different types of motionsuch as body motion, neck motion and crawl motion of the groundhog mine rescuerobot，and establishes the kinematic and dynamic models. This work lays thefoundation of motion controller of the robot.Analyze the gait of six legged robot. Propose a motion control method based onBSLIP(Bipedal Spring-Loaded Inverted Pendulum) and plantar pressure, and design adynamics controller, the control method has high control accuracy and the engineerrealization is simple.The designed robot crawls through the coordination of the motion of the tightening mechanism and the waist. The tightening force has decisive influence to the efficiency of crawl motion, too small force will make the robot slip, and too large force will induce too large power loss. The thesis proposes a crawl motion controll method, this method can obtain the optimized tightening force according to the crawl track, and the driving torque of the motor is obtained. This method can decrease the energy loss to the greatest degree.Study the process of drift ahead, present the realization flow of drift ahead, and study the control method of neck motion in the process of drift ahead. Propose a control method of neck motion based on dynamic feed-forward compensation, this method can eliminate the ill effects of load torque and improve the control accuracy under the uncertain environment.Study the hardware and software of the rescue robot control system according to the requirement of explosive gas atmosphere. Develops prototype of mine rescue robot which can run using six legs, and develops control system software based on hierarchic control architecture. The results of test show that the designed robot has virtue of strong adaptation to complex terrain and can meet the requirement of motion stability in complicated envirement.The research result of the thesis can provide a valuable reference to the theoretical studies and engineering practice of mine rescue robot control system. |
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