Kinematics simulation of environmental parameter monitor robot used in coalmine underground

Abstract

In order to monitor the environmental parameter of underground coalmine, a suspended line inspection robot was designed, which includes many monitoring modules to monitor safety parameters continuously and in real time, such as gas density, CO density, temperature, humidity, and so on. According to the characteristics of multi-body dynamics modeling method, large displacement and nonlinear analysis function of ADAMS/View software, The real walk of this inspection robot on the wire rope was simulated by ADAMS/View, in which flexible steel wire ropes are replaced by rigid rods, to simulate suspension wire walking robot walking up-downhill and level situations caused by the flexibility of wire rope. Obtained the robot motion characteristic curves in the process of walking on the rigid line .The simulation results show that the suspension line robot can run smoothly on rigid rods and has good ability of obstacle surmounting, its structure is reasonable. As a result, this research provides the theoretical guarantee for the further research of the suspension line robot walking on the flexible wire rope and offers a new way for the underground environment information monitoring.