Analysis and Test on Rough Terrain Adaptation Performance of the Rocker-type W-shaped Track Coal Mine Exploring Robot

摘要

The primary task of the rescue work for the coal mine exploring robots is to enter the disaster area of underground coal mine. However, the underground terrain after explosion disaster is unstructured and rough. The robot has to overcome all terrain in laneways and disaster area. In this study, a rocker type asymmetrical W-shaped track robot has been designed. In order to test the rough terrain adaptation performance of the robot, a dynamic measurement system for tracking the important positions and motions of the robot has been built in laboratory using NDI dynamic measuring machine. The differential mechanism, rough terrain-crossing, trafficability characteristic of the robot are carried out in a construction complex rough waste field. the test results shown that the differential can keep the main body posture balance and reduce the influence of rough terrain on main body, the fluctuation and vibration of the main body is smaller than the walking mechanism and the track suspensions can passively rock to adapt to rough terrain, the four tracks of which can contact with the obstacles and terrain very well and collectively supply propulsion to overcome the terrain. This work has indicated that rocker type asymmetrical W-shaped track robot has a good rough terrain adaptation performance and can be used in coal mine disaster rescue missions in the next future.