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《Chinese Journal of Engineering》 2017-12
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Performance evaluation system of the tracked walking mechanism of a coal mine rescue robot

LI Yu-tan;LI Meng-gang;ZHU Hua;School of Mechatronic Engineering,China University of Mining and Technology;Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment;  
The performance of a walking mechanism determines whether a coal mine rescue robot can successfully enter a disaster scene for conducting a rescue. To explore which type of the crawler-walking mechanism is more suitable for the coal mine rescue robot,five types of common crawler-type walking mechanisms were evaluated based on the following four aspects: walking ability,explosion prevention,handling,and reliability. In the process of evaluation,the space pass capacity,the maximum obstacle height,the maximum trench width,and the chassis height of the five types of walking mechanisms were theoretically analyzed. Then,a mathematical model for determining the influence of the number of motor drives on the difficulty of explosion-proof,handling,and reliability was proposed. According to the design experience of the coal mine rescue robot and the theoretical model,the five types of walking mechanisms were quantitatively evaluated. Finally,the walking mechanism with the angle of entry and departure is found to be most suitable for the coal mine rescue robot. Based on the evaluation results,the CUMT-V coal mine rescue robot was designed.
【Fund】: 国家高技术研究发展计划资助项目(2012AA041504);; 江苏省优势学科建设工程项目(PAPD);; 江苏省2015年度普通高校研究生科研创新计划(KYLX15_1418)
【CateGory Index】: TP242
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