Gait Planning and Simulation of Four Rocker-Arms Inspection Robot for Fully-Mechanized Workface in Thin Coal Seam
A inspection robot with four rocker-arms was designed adapting to the environment of fully-mechanized workface in thin coal seam. The walking mechanism and relevant parameters were determined according to the function requirements of the robot. Two sets o
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School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China [email protected]
Abstract. A inspection robot with four rocker-arms was designed adapting to the environment of fully-mechanized workface in thin coal seam. The walking mechanism and relevant parameters were determined according to the function requirements of the robot. Two sets of walking gaits were planned specifically for the four rocker-arms and were simulated virtually using ADAMS. By observing the behaviors of rocker-arms and analyzing the centroid displacement of the robot during the movements, both of the two sets of walking gaits were verified to be reasonable, one of them is recommended based on its better stability. Keywords: Thin seam · Inspection robot · Simulation · Gait planning
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Introduction
The thin coal resource, with great economic exploitation value, is abundant and distrib‐ utes widely in china. However, due to the narrow space of thin coal seam workface, installation, operation and maintenance of equipment manually become more difficult. The typical environment of thin coal seam workface was shown in Fig. 1. The mainte‐ nance workers squat and examine the working condition of shearer group, hydraulic supports and other equipment [1]. While some workface is so narrow that workers have to crawl through, which harms the health of maintenance workers obviously, especially when they have to work for a long time under this harsh environment. In order to alleviate the labor intensity of maintenance workers, it is urgent to design a kind of inspection robot, which can adapt the environment of fully mechanized work‐ face in thin coal seam, and replace or accomplish the inspection work auxiliary. The desired inspection robot, whose structure is shown in Fig. 2, can adapt all kinds of terrain environment of the working face with better obstacle crossing ability. It is composed of walking mechanism and operating arm. The walking mechanism is driven by crawler and consists of four rocker-arms assembled in front and rear respectively which mainly assist crossing obstacles.
© Springer Science+Business Media Singapore 2016 L. Zhang et al. (Eds.): AsiaSim 2016/SCS AutumnSim 2016, Part II, CCIS 644, pp. 20–28, 2016. DOI: 10.1007/978-981-10-2666-9_3
Gait Planning and Simulation of Four Rocker-Arms Inspection Robot
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Fig. 1. Workers overhaul equipment in thin coal seam workface
Fig. 2. The structure of the inspection robot
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Performance Indicators
In view of particularity of the environment of thin coal seam workface, the aforemen‐ tioned inspection robot must satisfy the performance indicators shown in Table 1. Table 1. Main performance indicators of inspection robot Item Boundary dimension l × b × h(mm) Total mass Working speed Maximum permissible gradient Maximum height of surmountable obstacle Rotation angle of front and rear rocker-arm Endurance
Performance indicators rocker-arm fully extended 750 × 340 × 160 rocker-arm shrinkage 540 × 340 × 160 31 kg 0.5 m/s 30° 180 mm ±360
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