Basic Theory and Modelling of Marmot-Like Robot for Mine Safety Detection and Rescuing

Abstract

Mine rescue robots are a kind of intelligent robot which can work in a complex and dangerous underground environment and be used for detecting human beings. Mine rescue robot to be developed in this chapter includes a system with certain function of drilling and excavation, a sensing system, and an external support system of wireless communication. The kinematic modelling of the head section of a type of rescue robot is presented, and the maximum stiffness, minimum stiffness, and global stiffness of the head section of a type of rescue robot is analyzed.