Analysis on Obstacle-Surmounting of Coal Mine Detection Robot with Mechanical Arm

This paper took the coal mine detection robot model TUT-CMDR for research. First of all, the three degrees freedom mechanical arm was installed on the robots body. By the same time, the theory of Euler angle and D-H method were established to analysis the posture and position of robot body and mechanical arm. After the integration, the centroid coordinates on the robot in any location was calculated. In the next place, mechanical arm angle change and the size of the load effect on both forward obstacle-surmounting and the barrier height were discussed. In the end, the three dimensional relationship diagrams of barrier height, barycenter, pitch angle, arms' swing angle and mechanical arms swing angle were drawn and the results of mechanical arm gesture planning were compared with the initial state. The theory will provide basis for robot obstacle-navigation control.