摇杆式履带悬架构型推衍及在煤矿救灾机器人上应用.pdfVIP

32 1 ROBOT Vol.32, No.1 2010 1 Jan., 2010 1002-0446(2010)-01-0025-09 221116 W 100 mm 450 mm 260 mm W TP24 A Deduction of the Rocker-type Track Suspension Configurations and Their Applications to Coal Mine Rescue Robots LI Yunwang GE Shirong ZHU Hua (School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China) Abstract: To obtain robot’s locomotion mechanisms which have good passive adaptability to rugged unstructured terrain and strong obstacle-surmounting capabilities to regular obstacles such as steps and ditches, the track is introduced into the rocker-type robot mobile system. Various configurations of the rocker-type track suspensions are obtained through adding arm-tracks and fixing joint angles, and their characteristics are analyzed. According to the unstructured terrain environments and the explosive gas atmosphere environment of underground coal mine, a rocker-type tracked mobile system using a symmetrical W-shaped track suspension is presented, and the mobile platform prototype is developed. Obstacles-surmounting capabilities of this mobile system, such as anti-overturning, channel-crossing, stair-climbing, down-stair, are analyzed. The capability analysis and test results indicate that the platform is of good adaptability to complex unstructured terrains and of str