Cantilever Six Mobile Robot Obstacle Performance Studies

Because of the complex distribution environment , Cobalt encrustation mining cannot still use the manganese nodule mining equipment. Cobalt encrustation mining professional technology and the equipment have to be developed.Walk installment, as one of the key technologies of mining equipment, should have excellent steerable capability, mobility, hauling, stability, reliability, good adherence and great capability of climbing, surmounting and avoiding obstacle, when it walks in the complex terrain and the region which is enriched with cobalt encrustation. Walking installment is a carrier of the cobalt encrustation mining system. Whether it runs normally or not, which directly decides the result of cobalt encrustation mining . The walking organization and the suspension unit are the most difficult technical problem of the walking installment , they have great influence on the walking ability of walking installation. Therefore the research of walking way , the suspension unit as well as the work platform become especially important and prominent.Surmounting obstacle is one of the main standards to weigh the adaptable ability of running mechanism and suspension of robots and mining machine to landform, and due to the complexity and particularity of cobalt-rich crust distributing on the seabed, we require the mining vehicle having high ability to adapt the landform and surmount obstacle, and meanwhile, the analysis of surmounting obstacle is also the basis for route planning for moving robot and mining vehicle. So it is practically meaningful to analyze the surmounting obstacle of the mining vehicle-cantilever moving robot.The landform adaptability and obstacle surmounting capability ofthe cantilever migration robot-a carrier of cantilever Six-WheeledRobot is analyzed in this article.The main contents of this article are as follows:The adherence ability of cantilever migration robot and the obstacle surmounting gradient limitation are analyzed;The cantilever migration robot obstacle surmounting dynamics model is established, based on dynamics analysis principle;The adherence ability of cantilever migration robot and the obstacle surmounting gradient limitation are analyzed;Based on the model and software Matlab, calculating the extreme degree of slope for cantilever moving robot on different hinged position, and on this basis selecting optimum parameter of the cantilever moving robot's hinge position.The cantilever migration robot obstacle surmounting model virtual prototype system is established, and the obstacle surmounting processes is emulated under several kinds of terrain parameter as well;The cantilever migration robot experiment equipment is established to carry on obstacle surmounting experiment and collect different data under varies obstacle environment.