RETRACTED ARTICLE: Automatic spraying motion planning of a shotcrete manipulator

Abstract

Shotcrete manipulator has been widely used in the construction of high-speed railways, coal mines and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. There are problems such as high operation risk, large personal injuries, and low construction quality. In order to improve the automation of tunnel construction, this paper proposes a spraying motion planning method based on an 8R manipulator arm. On the basis of kinematics modeling and analysis of the shotcrete manipulator, method design and motion planning of shotcrete are carried out according to tunnel conditions, and verification experiments are carried out in actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 m, which can meet the requirements of actual construction.

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“…Similar work has been done with mobile manipulators for paint spraying [24][25][26]. Here, a lawnmower path is often used as a reference for the position of the tool, an approach that was adopted in the currently presented work.…”

Optimal Trajectory Planning of a Mobile Manipulator for Disinfection Using Multi-objective Genetic Algorithm

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Advanced Support Technologies in Roadway

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