A simple and efficient bottom-roller axle intersections approach for judging the omnidirectional mobility of the Mecanum wheel configuration is proposed and proved theoretically. Based on this approach, a sub-configuration judgment method is derived. Using these methods, on the basis of analyzing the possible configurations of three and four Mecanum wheels and existing Mecanum wheel configurations of robots in practical applications, the law determining wheel configuration is elucidated. Then, the topological design methods of the Mecanum wheel configurations are summarized and refined, including the basic configuration array method, multiple wheels replacement method, and combination method. The first two methods can be used to create suitable multiple-Mecanum-wheel configurations for a single mobile robot based on the basic Mecanum wheel configuration. Multiple single robots can be arranged by combination methods including end-to-end connection, side-by-side connection, symmetrical rectangular connection, and distributed combination, and then, the abundant combination configurations of robots can be obtained. Examples of Mecanum wheel configurations design based on a symmetrical four-Mecanum-wheel configuration and three centripetal configurations using these topological design methods are presented. This work can provide methods and a reference for Mecanum wheel configurations design.

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

Stairs-climbing capacity is an important index for obstacle-overcoming performance for coal mine rescue robot. For studying on stairs-climbing capacity of the coal mine rescue robot with W-shaped track suspensions, theoretical analysis,...

Focusing on the issues of severe mining pressure and discontinuous surface deformation caused by the large-scale mining of multiple coal seams, and taking into account the research background of Shigetai Coal Mine in Shendong Mining Area, this study adopts physical similarity simulation, theoretical analysis, and on-site verification methods to carry out research on rock migration, stress evolution, and overlying rock fracture mechanism at shallow burial depths and in multiple-coal-seam mining. The research results indicate that as the working face advances, the overlying rock layers break layer by layer, and the intact rock mass on the outer side of the main fracture forms an arched structure and expands outward, showing a pattern of layer-by-layer breaking of the overlying rock and slow settlement of the loose layer. The stress of the coal pillars on both sides in front of and behind the workplace shows an increasing trend followed by a decreasing trend before and after direct top fracture. The stress on the bottom plate of the goaf increases step by step with the collapse of the overlying rock layer, and its increment is similar to the gravity of the collapsed rock layer. When mining multiple coal seams, when the fissures in the overlying strata of the current coal seam penetrate to the upper coal seam, the stress in this coal seam suddenly increases, and the pressure relief effect of the upper coal seam is significant. Based on the above laws, three equilibrium structural models of overlying strata were established, and the maximum tensile stress and maximum shear stress yield strength criteria were used as stability criteria for overlying strata structures. The evolution mechanism of mining damage caused by layer-by-layer fracturing and the upward propagation of overlying strata was revealed. Finally, the analysis of the hydraulic support working resistance during the backfilling of the 31,305 working face in Shigetai Coal Mine confirmed the accuracy of the similarity simulation and theoretical model. The above research can provide support for key theoretical and technological research on underground mine safety production, aquifer protection, surface ecological restoration, and source loss reduction and control.