Design and analysis of missing miner searching robot

摘要

A new type of mobile robot that is used to search and locate missing miners after mine disasters is designed according to the complex environment underground mine. The general structure and main parameters of the Missing Miner Searching Robot (MMSR) are presented. Four tracked units drive MMSR under independent control and cooperative driving mode. Each tracked unit is a leg-tracked function moving mechanism. The moving and legged rotating of a unit are respectively controlled by two motors. Surmounting obstacles capability, steering performance, toppling stability and kinematical reconfigurability of the MMSR are analyzed. The results show that MMSR adapted itself to terrains and topographic environment underground mine. It could directly surmount a raceway with width or an obstacle with height less than one tracked unit length. It had recovery ability of moving function.