Dynamics Analysis of a Novel Mine Disaster Searching Robot

A novel mine disaster searching robot is designed in order to increase the searching capability in a mine disaster. The dynamics of the novel mine searching robot is mainly studied. The kinematics is set up based on the joint location restriction and then the dynamic model is built by Newton-Euler method. The tractive force and slip of tracks of the mine searching robot is analyzed when moving on the different ground. A theoretic reference is provided for distinguishing the terrain parameters experienced by the mine searching robot and for robot motion planning and control.