Design of an Amphibian Exploring Robot

摘要

To design and develop an amphibian exploring robot capable of operation in constrained mine environment puts a tremendous challenge to the system developers from both scientific and engineering perspective. Very few attempts have been made to fulfil these criteria of versatility in design, communication and control. The CSIR-CMERI developed amphibian subterranean robotic explorer (SR) is capable of moving over fairly rough terrain. It can swim as well as crawl over basin floor effortlessly. It is capable of operating at a maximum depth of 10m and can swim at 1 knot. A number of field trials have been carried out for performance testing of the system to ascertain its capability in underground flooded mine tunnels. This paper presents the insight on the design of an amphibian exploring robot for mine safety and disaster mitigation with special features of low power consumption vis-a-vis high mission time.