A novel explosion-proof walking system: Twin dual-motor drive tracked units for coal mine rescue robots  

作　　者：李雨潭 朱华 李猛钢 李鹏 

机构地区：[1]School of Mechatronic Engineering, China University of Mining and Technology

出　　处：《Journal of Central South University》2016年第10期2570-2577,共8页中南大学学报（英文版）

基　　金：Project(2012AA041504)supported by the National High-Tech Research and Development Program of China;Project(KYLX15_1418)supported by the 2015 Annual General University Graduate Research and Innovation Program of Jiangsu Province,China;Project supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD),China

摘　　要：A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.A new explosion-proof walking system was designed for the coal mine rescue robot（CMRR） by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between ＂Velocity-driven Mode＂ and ＂Torquedriven Mode＂. To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.

关 键 词：coal mine rescue robot tracked walking system EXPLOSION-PROOF control strategy 

分 类 号：TD774[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]