Simulation Analysis for the Walking Mechanism of the Underground Exploration Robot Based on MATLAB and ADAMS

Abstract

In recent years, our province occurs gas and coal dust explosion accident of coal industry producing process frequently. After the accident, rescue personnel can’t go down in time, waste precious rescue time, causing more casualties personnel. To solve this problem, try to design walking mechanism of the underground exploration robot with a strong adaptation to the complex terrain, climbing and crossing barrier ability, we use the software of MATLAB and ADAMS to establish the three-dimensional model of walking mechanism and the disaster area scene and inspect the walking mechanism’s traveling smoothness in the complex terrain. Through the simulation results, we can see that walking mechanism of the underground exploration robot has a good ability to adapt to changes of the ground, effectively regulate the relative balance of the main body of walking mechanism, suitable for explore the environmental information in the underground complex terrain.