On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL Actuators Pub Date : 2024-04-24 DOI:10.3390/act13050157
Peng Liu, Haochen Zhou, X. Qiao, Yan Zhu
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Abstract

There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results.
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论煤矿双臂切割机器人的相对运动学和控制
传统的煤矿巷道掘进过程中存在一个不平衡的问题,即巷道掘进与支护在空间上处于同一位置,但在时间上却相互分离,从而导致巷道掘进效率低下的问题。为了克服这些问题,我们开发了一种先进的煤矿双臂掘进机器人系统,该系统可实现掘进与巷道永久支护的同步操作,从而高效完成大断面巷道的掘进任务。双臂切割机器人(DACR)对大断面巷道的成型质量和挖掘效率有重要影响。因此,本研究对双臂切割机器人的相对运动学、工作空间和控制进行了研究。首先,建立了 DACR 的相对运动学模型,并基于相对运动学模型提出了机器人的闭环控制策略。其次,提出并生成了 DACR 的关联工作空间(AW),它可以为 DACR 的切割轨迹规划提供参考。最后,通过仿真结果验证了相对运动学、闭环运动学控制器和关联工作空间生成算法。
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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