Design And Automatic Control Of Two-Arm Robot For Anchor Beam Support

In view of the shortcomings of intelligent and unmanned roadway support and slow efficiency,the W-strap is used in conjunction with the anchor rods to form an integral support structure by linking the scattered anchor rods together through the Wstrap.The concentrated force of the anchors on the surrounding rock is converted into a distributed force to ensure the overall stability of the surrounding rock of the roadway.The dual-arm robot for roadway support uses a crawler walking trolley as the body and a gripper beam robot arm as the auxiliary support for the drilling arm;thus automating the roadway support.The drill arm mechanical structure,kinematic analysis,loosely coordinated motion planning and drive space control algorithms are investigated in some detail.Based on the roadway support process,the drive mode and general arrangement of the dual-arm robot for roadway support are determined,its body structure is designed,a virtual prototype model of the drilling arm is built and simulated for different working conditions to obtain its dynamic forces and moments.Based on the results of the dynamics analysis,the static strength of each key component is checked.Based on the flush variation matrix,the D-H parameter method is used to construct the coordinate system of the adjacent links of the drill arm and derive its positive kinematic equations;the relationship between the end attitude of the drill arm and each joint variable is obtained.The Monte Carlo method is used to solve for the gripper beam robotic arm and the drill arm workspace.The inverse kinematics of the 6-axis robotic arm of special configuration is difficult to find,and the non-linear inverse kinematics equations are solved using the Condor search optimization algorithm.The base coordinates of the two-armed robot are analysed using a high-precision measuring instrument,infrared motion trapping,and a unified coordinate system is constructed;the constraint equations for the loosely coordinated motion of the two-armed robot are derived;the shortest distance of the two arms is measured in real time based on cylindrical envelope collision detection,and a fifth polynomial is introduced to plan the trajectory of the two-armed robot for roadway support.To address the difficulty of measuring the velocity and acceleration of the hydraulic cylinder,Levant’s robust differentiator is used to derive the velocity and acceleration of the hydraulic cylinder during its operation;to address the presence of unmodelled terms and external disturbances in the system,RBFNN is used to approximate the unknown model information;based on this,an adaptive neural network for tracking the trajectory of the dual-arm robot test platform for roadway support is proposed.Based on this,an adaptive neural network non-singular terminal sliding mode controller is proposed for the trajectory tracking of a dual-arm test platform for roadway support.The proposed adaptive neural network non-singular terminal sliding mode controller is used to track the trajectory of the dual-arm robot test platform for roadway support.Development of a dual-arm robot prototype for roadway support.Hardware selection is completed and an automatic control system is built for the dual-arm robot for roadway support based on actual working conditions.Based on OPC technology,Simulink and PLC communicate,and complete the joint control of Simulink,c SPACE and PLC to complete the collaborative support experiment and trajectory tracking experiment of the dual-arm robot for roadway support.The experimental results show that the dual-arm robot for roadway support is more intelligent than the existing support technology.The proposed adaptive neural network non-singular terminal sliding mode control reduces the maximum tracking and standard deviation by 50.86% and 50.96%respectively compared to PID control.This thesis has 69 pictures,11tables and 93 references.