Rescue robot swing arm driving system and its balance control method
LIU Jia
HU Jinzhi
Abstract：For limitation of the maximum permitted size and weight,a mine rescue robot(MRR) swing arm driving system was designed by taking a form of single-inverter driving dual-motor.The system model was built by use of weighted sum method,and current relationship of the dual-motor of the model was deduced and analyzed.For inconsistent MRR swing arm loads caused by complicated working conditions in coal mine underground,a balance control method for the system was proposed based on active damping mechanism.The method was tested by use of a 15 kW MRR prototype,and the result shows that the method can realize dynamic matching of torque under condition of inconsistent MRR swing arm loads.
Keywords：mine accidentrescue robotswing arm drivingdual motors drivingbalance controldynamic torque balanceactive damping
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 42-47 )