Abstract:

In order to address potential safety hazards of dust explosions caused by the dispersion of combustible dust during the intelligent transfer of medium and heavy flammable materials (such as coal) in mines, triggered by the movement of robotic arms and materials, this study takes 6-axis industrial mechanical arm as the subject. Referencing the technical parameters of the arm's joint motion and the wind speed threshold for coal dust dispersion as motion constraints, the "4-5-4-4-5-4" polynomial pose interpolation method and the proposed SEKOA were employed as the motion trajectory planning model for the robotic arm. This model analyzed the nonlinear combinatorial engineering optimization problem for achieving safe and efficient operation of the robotic arm. Under the established motion constraints, the SEKOA algorithm demonstrates higher efficiency compared to other algorithms in safely transferring coal powder materials, achieving the fastest time of approximately 9.5 seconds. The material movement is stable, with no tilting or collision. The motion trajectory planned by the "4-5-4-4-5-4" polynomial interpolation method is smooth and continuous. During the material lowering phase, the peak velocities of the main drive joints 1 and 2 are approximately 0.72 rad/s and 0.47 rad/s, respectively, with peak accelerations around 0.5 rad/s². After decelerating for about 2.5 seconds to 0 rad/s, the robotic arm can gently place the material at the designated position. This approach effectively prevents secondary dispersion of coal dust on the sealing container.

Key words: spiral exploration Kepler optimization algorithm (SEKOA), coal dust, robotic arm, coal powder material, trajectory planning, polynomial interpolation