Abstract：In order to develop coal mine rescue robot obstacle-navigation strategy for motion control effectively,three kinds of typical obstacles including step,slope and channel were chosen firstly.The rescue robot obstaclesurmounting course was analyzed on the basis of kinematics principle and the rescue robot ultimate capability to step over obstacles was acquired.Secondly the 3D model of rescue robot was built based on Recur Dyn software and the obstacle-surmounting simulation experiment was carried out.The vary patterns of the robot pitching angle,rate of pitch and other aspects of the rescue robot obstacle-surmounting course were obtained finally.These results provide a foundation and reference to the judgment whether the robots can surmount obstacles and the set-up of obstacle-surmounting strategies.

Keyword：track coal mine rescue robot;obstacle-surmounting capability;obstacle-surmounting course simulation;3D model;