Design And Kinematics Analysis Of Information Detection Manipulator In Coal Mine

Our country is a great coal-producing country, geology condition of coal seam is very complex, so coal mine accidents happened frequently in recent years and these accidents caused a significant casualties problem. In order to save lives of miners in time and reduce the loss of property of the state, the development of detection and rescue robot has become an important task of work safety in coal mine. This thesis is mainly about these contents as follows:1. Because of the complexity of coal mine environmental after disasters, the walking of traditional detection and rescue manipulator is restricted seriously. In this paper, we use the manipulator that walks along the roof rails with three degrees of freedom, explosion-proof camera, multi-parameter gas detection sensor, gripper and then establishment detection manipulator experiment platform by using the Pro/E three-dimensional solid model. This design is not only able to complete the information detection and transport the relief supplies, but also avoid the complex underground disaster geographical environment, duck and clear the obstacle away. It provides a new way for detection and rescue manipulator in coal mine.2. In this thesis, we combine the different forms of coal mine roadway(horizontal- tilt- bending), establishment detection manipulator transformation kinematics modeling by D-H parameter method, and obtain the forward and inverse kinematics model.3. We analysis the workspace of information on mine detection manipulator combine with the different forms of coal mine roadway. And obtain the workspace sectional view of the detection manipulator, then determined the workspace ranges of detection manipulator. Due to there is no cavity in workspace, this confirmed that the detection manipulator can complete the information detection, goods transportation and avoid the obstacle task.4. The kinematics model of detection manipulator in different roadway is established and analyzed by Pro/E software, then the displacement, velocity and acceleration curve of the wrist point of detection manipulator, confirmed the correctness of the theoretical kinematics results, and provides a theoretical basis for the mine detection manipulator dynamics and control analysis.