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 LI Yu-tan;ZHU Hua;LI Meng-gang;LI Peng

作者机构：School of Mechatronic Engineering China University of Mining and Technology 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2016年第23卷第10期

页      面：2570-2577页

核心收录：

学科分类：0810[工学-信息与通信工程] 0819[工学-矿业工程] 081903[工学-安全技术及工程] 0806[工学-冶金工程] 08[工学] 080202[工学-机械电子工程] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

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 

主　　题：coal mine rescue robot tracked walking system explosion-proof control strategy 

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.