Design And Analysis Of Landing Gear Mechanic Structure For The Mine Rescue Carrier Robot

Mine rescue two-stage robot system is used in the status that mine accidents occur inworking faces far away from the mine entrance, it adopts two-stage robot structure, the firstorbital-carrier robot and the secondary crawler detecting robot,According to the designed target of landing gear using in mine rescue robot, designed theoverall plan of mechanical structure of the landing gear and completed the structure designand size calculation of planar linkage mechanism. The basic kinematic analysis was carriedout by the simulation software SolidWorks Motion, and the movement rule about angulardisplacement and angular velocity of the linkage mechanism was obtained under given inputcondition. And finally a theoretical basis for the structure design and engineering applicationof linkage mechanism were provided.The Kinematic and dynamics analysis of planar linkage were conducted by the dynamicsimulation tool MATLAB/Simulink, and the angular displacement and angular velocity curveof different components could be calculated, which verified the feasibility of the planarlinkage. The constraining forces of revolute pairs and the tractive force on the slider could begot, and the statics analysis of the components in the pose with the maximum tension could beconfirmed by the software of the finite element analysis ABAQUS to verity the feasibility ofits structural strength. Meanwhile the statics analysis of the whole structure of the landinggear could be done, when the platform sustain the whole gravity of the secondary detectingrobot to verify the feasibility of the whole structure.The virtual prototype of the landing gear would be built in SolidWorks, and motionsimulation could be finished in the Motion subsystem module, and the driving torque and therotational speed could be obtained and the needed maximum power, which could provide areferences to the selection of the landing gear drive motor.