Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-487-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-487-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
30 Aug 2024
Research article |  | 30 Aug 2024

Stability analysis and control method of a variable structure detection robot for underground rescue

Hai-bo Tian, Ao Wang, Maolin Lu, Meiting Zhang, Zenan Zhang, Wencai Zhang, and Xin Su

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Short summary
In this paper, a variable structure detection robot for underground rescue is designed for the rescue environment of a 225 mm diameter borehole, combined with the leading arm and the deformable tracks.  A stability criterion based on the contact force between the robot and the road surface (contact force stability criterion, CFSC) is proposed, and an adaptive stability control system of the robot is established in combination with a neural network.
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