Abstract
A inspection robot with four rocker-arms was designed adapting to the environment of fully-mechanized workface in thin coal seam. The walking mechanism and relevant parameters were determined according to the function requirements of the robot. Two sets of walking gaits were planned specifically for the four rocker-arms and were simulated virtually using ADAMS. By observing the behaviors of rocker-arms and analyzing the centroid displacement of the robot during the movements, both of the two sets of walking gaits were verified to be reasonable, one of them is recommended based on its better stability.
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© 2016 Springer Science+Business Media Singapore
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Zhao, J., Shang, D., Yuanyuan, Q. (2016). Gait Planning and Simulation of Four Rocker-Arms Inspection Robot for Fully-Mechanized Workface in Thin Coal Seam. In: Zhang, L., Song, X., Wu, Y. (eds) Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems. AsiaSim SCS AutumnSim 2016 2016. Communications in Computer and Information Science, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-10-2666-9_3
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DOI: https://doi.org/10.1007/978-981-10-2666-9_3
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