关键词: 矿山, 智能加水站, 四自由度机械臂, 多项式插值法, 轨迹规划

Abstract:

In order to solve the operation vibration of the manipulator for the existing intelligent water filling station in the open-pit coal mine and avoid the safety problem caused by the vibration, the four-degree-of-freedom manipulator was taken as the research object to study the motion characteristics of the manipulator. The improved D-H parameter method was used to establish the coordinate system, and the forward and reverse kinematics simulation was carried out through the kinematic equation. The manipulator model of the water filling mechanism of the water filling station was established, and the position of the end effector of the manipulator model was sampled by the Monte Carlo method of Matlab. The working space cloud map of the manipulator was obtained, and the working position that the manipulator could reach was determined, so as to plan the stop position of the water equipment for water filling. The five-order polynomial interpolation algorithm was used to plan the joint motion space of the manipulator, and the path points in the Cartesian space were converted into the corresponding joint angles to realize the motion control of the manipulator and obtain the position, velocity, and acceleration curves of each joint. The results show that the velocity and acceleration of the manipulator rise and then decrease stably, and each joint moves stably. There is no impact and vibration. The trajectory planning observes stable velocity and no impact and vibration, which ensures the high working efficiency and stability of the manipulator and improves its safety performance.

Key words: mine, intelligent water filling station, four-degree-of-freedom manipulator, polynomial interpolation, trajectory planning