Walking mechanism design and analysis on obstacle crossing for inspection robot in thin coal seam face

Because the thin coal seam working face is narrow and complicated,a compact crawler robot with four rockers is designed,which has high capability of obstacle-crossing. According to the robot centroid position,the obstacle-crossing maximum heights of the robot with rockers and the robot without rockers are both optimized. The obstacle-crossing maximum height of the robot with rockers is 232.91 mm,which can meet the design requirements. The obstacle-crossing processes are virtually simulated in ADAMS,and the change rule of the drive motor output torque is analyzed for reasonable motor selection. Finally,the experimental walking mechanism prototype is tested for obstacle-crossing. The results have shown that this structure robot has high obstaclecrossing capability and high adaptability,which can meet the special requirements of the thin coal seam working face.