煤矿搜救机器人履带式行走机构性能评价体系

为了探究何种履带式行走机构更加适用于煤矿搜救机器人，采用网络分析法从行走机构行走能力、防爆难易、操控性以及可靠性四个方面对5种常见的履带式行走机构进行性能评价.对5种行走机构的空间通过性、最大越障高度、最大越壕沟宽度和底盘高度进行了理论建模分析，同时提出了驱动电机数量对于防爆难易、操控性以及可靠性影响的数学模型.根据煤矿搜救机器人设计经验以及所推导的理论模型，对5种行走机构采用网络分析法进行了量化评价.最终，评价结果认为角度型行走机构更适于煤矿搜救机器人.基于评价结果，设计了CUMT-V型煤矿搜救机器人行走机构. 

Performance evaluation system of the tracked walking mechanism of a coal mine rescue robot

The performance of a walking mechanism determines whether a coal mine rescue robot can successfully enter a disaster scene for conducting a rescue. To explore which type of the crawler-walking mechanism is more suitable for the coal mine rescue robot, five types of common crawler-type walking mechanisms were evaluated based on the following four aspects:walking ability, explosion prevention, handling, and reliability. In the process of evaluation, the space pass capacity, the maximum obstacle height, the maximum trench width, and the chassis height of the five types of walking mechanisms were theoretically analyzed. Then, a mathematical model for determining the influence of the number of motor drives on the difficulty of explosion-proof, handling, and reliability was proposed. According to the design experience of the coal mine rescue robot and the theoretical model, the five types of walking mechanisms were quantitatively evaluated. Finally, the walking mechanism with the angle of entry and departure is found to be most suitable for the coal mine rescue robot. Based on the evaluation results, the CUMT-V coal mine rescue robot was designed.