The Structure Design And Motion Analysis Of Caterpillar Track Coal Mine Search Robot

As the development of economy, we take more and more exploitation of coal mine. And Along with this exploitation, the number of coalmine accidents is increasing, too. However, because of the suddenness of the disaster, it is difficult for the rescuers to know the situation and to get to the spot in the first time, which leads to many deaths of miners due to the delayed rescue work. Thus, developing a detective mine robot is highly significant.This thesis is closely connected to the national 863 project Design and Research of the Coal Mine Search Robot , with the following work done:Firstly, the kinematics model of the robot has been established to analyze the motion performance of the robot. Then, to further analyze the robot kinematics and dynamics, the dynamics model of the robot walking on level ground is established based on Newton Euler method, providing a theoretical foundation for the control.Secondly, analysis of obstacle-crossing capability and motion planning of the robot are made. Through establishing the obstacle-crossing kinematics model of the robot in the complicated miner environment, we analyze the obstacle-crossing capability of the robot and plan the steps of obstacle-crossing motion, such as climbing, crossing stairs, striding ditches and climbing vertical barriers. Then, the motions of walking on the level ground, climbing, crossing stairs, striding ditches and climbing vertical barriers are simulated by RecurDyn; and the results have shown the capability of obstacle-crossing and the correctness and reasonability of motion planning, providing a theoretical foundation for the control.Lastly, based on the technology of modular design, the embedded control system of the robot is designed, which consists of main control module, motor control module, multi-sensor information collection and image collection and sending module. ARM is used as the controller of the master control module and information collection module. And based on the hardware system, the software system between master computer and control units is designed. With the embedded control system, the robot is able to walking on a level surface, climbing, crossing steps, striding ditches, capture video and communication with master wirelessly. At last, the effectiveness of the control system is verified through experiment.