Abstract：Gas and coal dust accidents often effect coal production, the event of mine accidents need quick and timely rescue.Complex and harsh environments underground put forward higher requirement for obstacle-surmounting capability of robot for coal mine rescue after mine accident.According to the environmental characteristics of coal mine in line with the existing mobile mechanism of the robot, the overall robot for coal mine rescue is designed.This paper analyses step and slope-climbing, and channel-crossing of motion mechanism and maximal obstacle-surmounting capability from the viewpoint of kinematics.

Keyword：robot for under-mine rescue;swing arm;obstacle surmounting;