Modeling And Trajectory Planning Of Heterogeneous Redundant Robot System For High Temperature Furnace Rake Slag

Coal is widely used in China’s steelmaking and iron making industry,the full use of coal,in industry,most of the use of high-temperature coal furnace combustion,industrial coal furnace combustion needs workers to continue to feed,push and slag operations,many push material and slag operations are carried out at the mouth of the high temperature furnace,the working environment is very poor.Workers are not only affected by dust,sometimes directly by high temperature,smoke,toxic gas and chemical materials corrosion.In order to reduce the damage to the health of the workers,this paper adopts the redundant heterogeneous robot system composed of six degrees of freedom robot,rake,support point and track.This scheme can ensure that the mechanical arm can work flexibly in the slag flat area under the environment far away from the high temperature.The research contents and achievements of this paper are as follows:(1)according to actual application scenario,analyzed technical requirements and relevant technical parameters(rake target area boundary,equipment distance fireside minimum distance limit,rake in the vertical direction of movement range,etc.),the push rod length,strong point distance fireside distance,strong point moving range multivariable constraints such as heterogeneous mathematical model of the robot parameters such as push rod length,The structural parameters are solved by MATLAB optimization function.(2)Aiming at the working scene of the heterogeneous redundant robot system in the high-temperature coal furnace,the construction method of the kinematic model of the heterogeneous redundant robot system was studied and the kinematic model of the coal flat slag heterogeneous robot of the industrial high-temperature coal furnace was established.Based on the analysis of kinematics and inverse kinematics under multiple constraints,an inverse kinematics solution method based on adaptive solution of redundant joints and pose simplification was proposed.MATLAB simulation verified that the method could guarantee the same solution accuracy and solve faster.(3)Rake-end trajectory planning and redundant joint trajectory planning were carried out for the heterogeneous redundant robot system.An arc interpolation algorithm is used in terminal trajectory planning,and an adaptive arc radius determination method based on trajectory is proposed.For trajectory planning of redundant joints,an adaptive trajectory optimization method based on velocity smoothness was proposed based on the traditional genetic algorithm to solve the problems of velocity and acceleration jump in the global optimization of gripper trajectory by the traditional genetic algorithm.A suitable fitness function is designed to make the trajectory planning of heterogeneous redundant robot system meet the technological requirements.(4)Based on MATLAB and Coppelia Sim simulation platform,the kinematic model and working environment structure simulation of the heterogeneous robot system were constructed,and the feasibility of the overall scheme of heterogeneous redundant robot was verified through kinematic simulation experiments.Based on the analysis of simulation results,the system structure and algorithm are improved and optimized.There are 39 pictures,9 tables,and 61 references.