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Proceedings Paper

Design and analysis of missing miner searching robot
Author(s): Tingjun Wang; Jin Sun; Yanli Cao; Luping Wang; Ruiqing Jia
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Paper Abstract

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.

Paper Details

Date Published: 2 May 2006
PDF: 5 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422O (2 May 2006); doi: 10.1117/12.664671
Show Author Affiliations
Tingjun Wang, China Univ. of Mining and Technology (China)
Jin Sun, China Univ. of Mining and Technology (China)
Yanli Cao, China Univ. of Mining and Technology (China)
Luping Wang, China Univ. of Mining and Technology (China)
Ruiqing Jia, China Univ. of Mining and Technology (China)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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