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李雨潭等:煤矿搜救机器人履带式行走机构性能评价体系 ·1921· in subterranean robotics.J Field Robot,2006,23(1):35 ling mechanism of coal mine rescue robot.Ind Mine Autom, B]Baker C.Morris A,Ferguson D,et al.A campaign in autono- 2015,41(6):21 mous mine mapping /Proceedings.ICRA()4.IEEE International (孙国栋,李雨潭,朱华.一种新型煤矿救援机器人履带行 Conference on Robotics Automation Piscataway.New Orleans, 走机构设计.工矿自动化,2015,41(6):21) 2004:2004 03] Chen H L,Guo P.Design and analysis of structure of coal mine 4]Murphy RR,Kravitz J,Stover S L,et al.Mobile robots in mine rescue robots.Ind Mine Autom,2014,40(3):106 rescue and recovery.IEEE Robot Autom Mag,2009,16(2):91 (陈海龙,郭鹏.煤矿救援机器人结构设计及分析.工矿自 Toor A.Gemini-cout robot can scope out mining accidents,may 动化,2014,40(3):106) save lives D/OL].Engadget (2011-8-22)2017-2-20].ht- [14]Wang Z M,Zhang L,Hu B,et al.Structural design and simula- tp://www.engadget.com/2011/08/22/gemini-cout-robot-can- tion analysis of a six-wheel mine rescue robot.Min Mach,2013, scope-out-mining-accidents-may-save-ive/ 41(10):117 [6]Ralston JC.Hainsworth D W,Reid D C,et al.Recent advances (王忠民,张朗,胡滨,等.一种六轮矿难救援机器人的结构 in remote coal mining machine sensing,guidance,and teleopera- 设计与仿真分析.矿山机械,2013,41(10):117) tion.Robotica,2001,19(5):513 [15]Wang Y,Ji C P.AHP based research on comprehensive perform- Li Y W,Ge S R,Zhu H,et al.Obstacle-urmounting mechanism ance evaluation system of coal mine rescue robot.Coal Mine and capability of four-track robot with two swing arms.Robot, Mach,2011,32(6):53 2010,32(2):157 (王媛,姬程鹏.基于AHP法的煤矿救灾机器人综合性能评 (李允旺,葛世荣,朱华,等.四履带双摆臂机器人越障机理 价体系研究.煤矿机械,2011,32(6):53) 及越障能力.机器人,2010,32(2):157) [16]Zhao J,Yang C,Hu W J.Performance evaluation for search ro- [8]Li Y W,Ge S R,Zhu H,et al.Mobile platform of a rocker-type bots with wheel-track based on AHP-fuzzy comprehensive evalua- W-shaped track robot.Key Eng Mater,2010,419-420:609 tion and development of evaluation software.Beijing Univ Tech- 9]Li Y T,Zhu H,Gao Z J,et al.Design and simulation of hydrau- nol,2016,42(6):801 lic system for coal mine rescue robot.Chin Hydrau Pneumatics, (赵京,杨聪,胡卫建.基于AHP一模糊综合评价法的轮履复 2013(8):24 合型搜索机器人性能评价及其软件开发.北京工业大学学 (李雨潭,朱华,高志军,等.煤矿救援机器人液压系统设计 报,2016,42(6):801) 与仿真.液压与气动,2013(8):24) [17]Shang J N.Research on Optimal Allocation and Performance [10]Wang W D,Dong W,Su Y Y,et al.Development of search- Evaluation of Earthquake Rescue Equipment [Dissertation] and-rescue robots for underground coal mine applications.Field Beijing:Beijing University of Technology,2014 Robot,2014,31(3):386 (尚佳宁.地震救援装备最优配置方法及性能评价体系的 [11]Li Y W.Study on Mobile Mechanisms for Rescue Robots in Under- 研究[学位论文].北京:北京工业大学,2014) ground Coal Mine [Dissertation].Xuzhou:China University of 18] Sun H C,Xu G Y,Tian P.Design alternatives evaluation of Mining and Technology,2010 emergency bridge by applying analytic network process (ANP). (李允旺.矿井救灾机器人行走机构研究[学位论文].徐 System Eng Theor Prac,2007,27(3):63 州:中国矿业大学,2010) (孙宏才,徐关尧,田平.用网络层次分析法(ANP)评估应 [12]Sun G D,Li Y T,Zhu H.Design of a new type of crawler travel- 急桥梁设计方案.系统工程理论与实践,2007,27(3):63)李雨潭等: 煤矿搜救机器人履带式行走机构性能评价体系 in subterranean robotics. J Field Robot,2006,23( 1) : 35 [3] Baker C,Morris A,Ferguson D,et al. A campaign in autono￾mous mine mapping / / Proceedings. ICRA'04. IEEE International Conference on Robotics & Automation Piscataway. New Orleans, 2004: 2004 [4] Murphy R R,Kravitz J,Stover S L,et al. Mobile robots in mine rescue and recovery. IEEE Robot Autom Mag,2009,16( 2) : 91 [5] Toor A. Gemini-Scout robot can scope out mining accidents,may save lives[J/OL]. Engadget ( 2011--8--22) [2017--2--20]. ht￾tp: / /www. engadget. com /2011 /08 /22 /gemini-scout-robot-can￾scope-out-mining-accidents-may-save-live / [6] Ralston J C,Hainsworth D W,Reid D C,et al. Recent advances in remote coal mining machine sensing,guidance,and teleopera￾tion. Robotica,2001,19( 5) : 513 [7] Li Y W,Ge S R,Zhu H,et al. Obstacle-surmounting mechanism and capability of four-track robot with two swing arms. Robot, 2010,32( 2) : 157 ( 李允旺,葛世荣,朱华,等. 四履带双摆臂机器人越障机理 及越障能力. 机器人,2010,32( 2) : 157) [8] Li Y W,Ge S R,Zhu H,et al. Mobile platform of a rocker-type W-shaped track robot. Key Eng Mater,2010,419-420: 609 [9] Li Y T,Zhu H,Gao Z J,et al. Design and simulation of hydrau￾lic system for coal mine rescue robot. Chin Hydrau Pneumatics, 2013( 8) : 24 ( 李雨潭,朱华,高志军,等. 煤矿救援机器人液压系统设计 与仿真. 液压与气动,2013( 8) : 24) [10] Wang W D,Dong W,Su Y Y,et al. Development of search￾and-rescue robots for underground coal mine applications. J Field Robot,2014,31( 3) : 386 [11] Li Y W. Study on Mobile Mechanisms for Rescue Robots in Under￾ground Coal Mine [Dissertation]. Xuzhou: China University of Mining and Technology,2010 ( 李允旺. 矿井救灾机器人行走机构研究[学位论文]. 徐 州: 中国矿业大学,2010) [12] Sun G D,Li Y T,Zhu H. Design of a new type of crawler travel￾ling mechanism of coal mine rescue robot. Ind Mine Autom, 2015,41( 6) : 21 ( 孙国栋,李雨潭,朱华. 一种新型煤矿救援机器人履带行 走机构设计. 工矿自动化,2015,41( 6) : 21) [13] Chen H L,Guo P. Design and analysis of structure of coal mine rescue robots. Ind Mine Autom,2014,40( 3) : 106 ( 陈海龙,郭鹏. 煤矿救援机器人结构设计及分析. 工矿自 动化,2014,40( 3) : 106) [14] Wang Z M,Zhang L,Hu B,et al. Structural design and simula￾tion analysis of a six-wheel mine rescue robot. Min Mach,2013, 41( 10) : 117 ( 王忠民,张朗,胡滨,等. 一种六轮矿难救援机器人的结构 设计与仿真分析. 矿山机械,2013,41( 10) : 117) [15] Wang Y,Ji C P. AHP based research on comprehensive perform￾ance evaluation system of coal mine rescue robot. Coal Mine Mach,2011,32( 6) : 53 ( 王媛,姬程鹏. 基于 AHP 法的煤矿救灾机器人综合性能评 价体系研究. 煤矿机械,2011,32( 6) : 53) [16] Zhao J,Yang C,Hu W J. Performance evaluation for search ro￾bots with wheel-track based on AHP--fuzzy comprehensive evalua￾tion and development of evaluation software. J Beijing Univ Tech￾nol,2016,42( 6) : 801 ( 赵京,杨聪,胡卫建. 基于 AHP--模糊综合评价法的轮履复 合型搜索机器人性能评价及其软件开发. 北京工业大学学 报,2016,42( 6) : 801) [17] Shang J N. Research on Optimal Allocation and Performance Evaluation of Earthquake Rescue Equipment [Dissertation]. Beijing: Beijing University of Technology,2014 ( 尚佳宁. 地震救援装备最优配置方法及性能评价体系的 研究[学位论文]. 北京: 北京工业大学,2014) [18] Sun H C,Xu G Y,Tian P. Design alternatives evaluation of emergency bridge by applying analytic network process ( ANP) . System Eng Theor Prac,2007,27( 3) : 63 ( 孙宏才,徐关尧,田平. 用网络层次分析法( ANP) 评估应 急桥梁设计方案. 系统工程理论与实践,2007,27( 3) : 63) · 1291 ·
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