| In recent years,China has begun to vigorously promote the intelligent construction of coal mines.As an important part of the marshalling and dispatching of coal mine vehicles,the decoupling technology still has practical problems such as high labor proportion,high labor intensity,and low degree of automation,which has become a weak link restricting the intelligent construction and unmanned development of coal mines.Aiming at the above problems,with the purpose of improving vehicle scheduling efficiency and liberating labor,the research on the mining car hook removal robot is carried out.In this thesis,a combination of mechanism design,theoretical analysis,and simulation analysis is used to systematically study key issues such as the structural design and mechanical characteristics of the hook removal robot.(1)Analyzed the current manual hook removal technology and existing problems,clarified the workflow of the hook removal robot,and determined the system composition of the robot;In response to the complexity of the manual lifting and hooking process,the mining car connection device has been improved;The configuration form and driving mechanism of the hook picking robot were determined,and a three-dimensional model of the robot was drawn.Based on the load capacity and maximum operating speed requirements,the calculation and selection of each joint motor and reducer have been completed.(2)Based on the structural characteristics of the hook picking robot,an improved D-H parameter method was used to establish the linkage coordinate system of the hook picking robot.According to the matrix transformation theory,the forward and inverse kinematics equations of the robot are derived.The forward and inverse kinematics of the robot are verified using the robot toolbox.Use differential transformation method to solve the Jacobian matrix of the robot.The correctness of the kinematics modeling is verified by kinematics simulation of the uncoupling robot.(3)Studied trajectory planning algorithms in joint space and Cartesian space.Simulations were conducted on cubic polynomial interpolation and quintic polynomial interpolation,verifying that the quintic polynomial interpolation algorithm has less impact.We studied the problem of line and arc planning in Cartesian space and simulated it using a parabolic velocity strategy,ensuring that the robot can run smoothly.Based on the S-shaped velocity curve improvement and using a multi-path smooth transition algorithm to establish an arc connection model.Finally,the transition arc algorithm is used to plan the trajectory of the multi-path segment,and it is compared with the traditional S-shaped speed curve through simulation.The simulation results show that the kinematics curve of the transition arc algorithm has no sudden change,achieving the effect of smooth transition of adjacent tracks,and reducing the mechanical shock when the robot is running.(4)The AC servo motor controller was designed based on PID and fuzzy PID control algorithms.By using Matlab/Simulink modules,a simulation model of the fuzzy PID control system for AC servo motors was built.The simulation results show that the fuzzy control system has good stability,and the simulation analysis results can guide the debugging of servo parameters.(5)The virtual prototype model of the hook picking robot was established by Adams,and the dynamic simulation was carried out.The kinematics parameter curves of each joint were obtained,which verified the correctness and feasibility of the theoretical design scheme.The statics simulation analysis of the key parts of the robot is carried out by using ANSYS,which verifies that the parts can meet the requirements of rigidity and strength.At the same time,the modal of the robotic arm mechanism was simulated to obtain the natural frequency and vibration mode of the mechanism,providing a basis for avoiding resonance of the mechanism.This thesis mainly includes 81 diagrams,22 tables,and 80 references. |
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