Equivalent Position Workspace for a Coal Gangue Picking Robot and Its Application to Stability Analysis: A Descriptive Study

For green mining, the removal of gangues from coals is critical. This project develops a coal gangue picking robot with an end-grab controlled by four cables that uses a machine vision system to separate coals from gangues. The suggested robots have a highly dynamic gangue pick-and-place capability, including a high payload-to-weight ratio and good placement accuracy. Not only are there benefits to adopting cable actuation in robots, but there are also drawbacks. One of the most important issues is the robot’s stability, which is directly connected to whether the target gangues can be effectively sorted. As a consequence, in order to learn more about the stability of a coal gangue picking robot, this study focuses on the equivalent position workspace, which has the same stability as a coal gangue picking robot. First, the robot’s kinematic and kinetostatic models are provided in order to assess their impact on the stability of the coal gangue pickup robot. Furthermore, a non-iterative polynomial-based optimization method with the right optimal objective function is developed based on convex optimization theory, in which the cable with the minimum cable tension at any posture is determined. Then three position performance indicators are supplied to show the impact of end-grab locations on the coal gangue pickup robot’s stability in a specified workplace zone. In addition, a new workspace called Equivalent Position Workspace (EPW) has been added. Finally, simulation data is used to adjust the theoretical link between the two performance indices as well as the stability. The research has substantial guiding importance and practical utility for coal gangue robotic separation.

Author(s) Details:

Peng Liu,
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China and Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University, Xi’an 710000, China.

Xiangang Cao,
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

Xuhui Zhang,
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

Xinzhou Qiao,
School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China.

Please see the link here: https://stm.bookpi.org/NTPSR-V4/article/view/6938

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