The concept of walking robot for mining industry

摘要

The article describes briefly actual state of the art of unmanned vehicle for mining industry, from inspection robot to automatic train for ore transport. Concept of unconventional walking robot for inspection is presented and comparison with standard wheel and track solutions is shown with theirs advantages and disadvantages as well. Main advantages of author’s solution are limiting the number of motors to two, simplifying control algorithms and increasing durability through displacing sensitive systems like motors, electronic, from legs to the body of the robot. Several results with different optimization parameters for geometric synthesis of used leg mechanism in different environmental condition are shown. The authors heuristic method of geometric synthesis is briefly presented, that can be used not only for walking mechanisms.