Workspace Analysis and Calculation for the Manipulator of a Explosive-Handling Robot in Mine

Tian, Hai Bo; Li, Ai Min; Kou, Fa Rong

doi:10.4028/www.scientific.net/amm.192.211

Cited by 2 publications

(1 citation statement)

References 4 publications

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“…The structural parameters of the seed-box supply device are shown in Table 1. The main design parameter of the supply-robot arm is the length of each link [23,24]. The length of the waist-joint link is mainly determined using the frame size and the relative height of the seeder and the ground.…”

Section: Seed-fertilizer Replenishment Device Plan and Working Principlementioning

confidence: 99%

Design and Test of Seed–Fertilizer Replenishment Device for Wheat Seeder

Wei,

Wang,

Niu

et al. 2024

Agriculture

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In view of existing problems, such as the seed and fertilizer supply link for wheat seeders still relying on manual installation and the lack of practical application equipment, a seed–fertilizer replenishment device based on the three-degree-of-freedom mechanical arm and screw conveying principle is designed using the seed box installation and supply as the operation scenario to replace the manual installation process. Combined with the requirements of the seed box replenishment operation, the key parameters of the replenishment robot arm and the screw conveyor auger are determined. Then, the kinematic model of the replenishment robot arm is established based on the modified D-H method, forward and inverse kinematics calculations are performed, and the workspace is analyzed using the Monte Carlo method. Based on this, the robotic arm task path is designed, the fifth-degree polynomial interpolation method is used to complete the trajectory planning, and MATLAB R2016a software is used to simulate the motion trajectories of each joint, verifying the feasibility of the trajectory planning solution. Finally, a prototype is trial-produced and quadratic regression orthogonal testing and response surface analyses are conducted to obtain the optimal working parameters of the replenishment device. The verification test shows that when the angular velocity of the lumbar joint of the replenishment device is 4°/s, the speed of screw conveyor is 90 r/min, and the angle of the big arm is 12°, the conveying loss rate is 3.98%, and the conveying efficiency is 0.833 kg/s. The relative errors with the theoretical optimal values are 4.2% and 2.4%, respectively, both less than 5%. The supply trajectory is reasonable, and the robot arm runs smoothly. This study can provide reference for the design of seed–fertilizer replenishment device for wheat seeders.

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Section: Seed-fertilizer Replenishment Device Plan and Working Principlementioning

confidence: 99%

Design and Test of Seed–Fertilizer Replenishment Device for Wheat Seeder

Wei,

Wang,

Niu

et al. 2024

Agriculture

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Study of the Static Characteristics of the Workspace Ar600e Robot

Шахматов¹,

Ilyukhin²,

Mezentsev³

2019

Journal of Dynamics and Vibroacoustics

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The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed.

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Workspace Analysis and Calculation for the Manipulator of a Explosive-Handling Robot in Mine

Cited by 2 publications

References 4 publications

Design and Test of Seed–Fertilizer Replenishment Device for Wheat Seeder

Design and Test of Seed–Fertilizer Replenishment Device for Wheat Seeder

Study of the Static Characteristics of the Workspace Ar600e Robot

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