Structure Design and Analysis of Moving Character for Detect Robot for Underground Coal Mine

Aiming at the environment of the underground coal mine combined with the advantage of the articulated-tracked mobile robot at present, a flameproof mobile robot which can detect and rescue for underground coal mine is designed. By analyzed of obstacle crossing mechanism for the robot, necessary conditions for robot obstacle crossing successfully were proposed, and the gait of robot obstacle crossing was programmed. The conclusion can be provided for the same type robots structural design and optimization.