Design of an industrial all-terrain robot platform lessons learned in the design of a robotic mine safety platform for South African gold mines

This paper describes the design methodology behind the design of an underground autonomous mine safety platform. The robot is intended for use as an underground safety platform in gold mines of South Africa, where right after a blast the hanging wall (roof) and poles need to be inspected and cleared before the crew can enter. The robot platform has to deal with rough terrain and the steep slope of the South African Gold seam. The paper is a short summary of the robot design and the systems that run it.