关键词: 露天煤矿, 加水机械臂, 稳定性, 轨迹规划

Abstract:

In order to solve the safety problems caused by vibration during the water-adding operation of the water-adding robotic arm in open-pit coal mines and improve the operation stability of the robotic arm, a three-degree-of-freedom water-adding robotic arm was selected as the research object to explore the motion characteristics and trajectory planning of the water-adding robotic arm. Firstly, an improved D-H parameter method was used to establish a kinematics model, and forward and inverse kinematics analyses were performed on the kinematics model to establish a water-adding robotic arm model. Then, the results obtained from the forward and inverse kinematics analyses of the water-adding robotic arm were verified using Matlab software. Finally, by using the Bresenham interpolation algorithm, the trajectory planning of the water-adding robotic arm was carried out in Cartesian coordinates, and the joints of the water-adding robotic arm were simulated and analyzed using the Matlab Robotic Tool to explore the random temporal changes in the position, velocity, and acceleration of each joint of the water-adding robotic arm in open-pit coal mines. The results show that the velocity and acceleration of each joint of the water-adding robotic arm in open-pit coal mines show a trend of first increasing and then decreasing, and the change process is stable, avoiding the impact and vibration phenomena during the change process of the water-adding robotic arm. The trajectory planning shows that the velocity of the water-adding robotic arm changes smoothly, ensuring high efficiency and good stability of the water-adding robotic arm in open-pit coal mines.

Key words: open-pit coal mine, water-adding robotic arm, stability, trajectory planning