Kinematic analysis on obstacle-crossing behavior of tracked rescue robot in colliery
Hua Ji Zhu · Mining & Processing Equipment · 2012
In order to analyze the movement laws of the center of gravity of the tracked robot at crossing obstacles, a mathematical model was built. In combination with the parameters of CUMT-1 robot, mathematical simulation and analysis were carried out, and experiments were conducted in laboratory conditions. The mathematical model proved correct by simulation and experimental data. In addition, the maximum height of obstacle that the tracked robot could cross was estimated with the model, and the minimum length of the tracked robot was determined also according to the maximum obstacle height. The analysis results offered theoretical basis for the design of the tracked rescue robot in colliery.