Analysis and Optimization of the Drive System of the Mobile Robot Arm in Unmanned Mining Working Face
The function of the mining patrol robot arm is to assist or even replace the staff to operate and maintain the equipment when the underground equipment fails, so as to reduce the possibility of potential accident safety hazards. Different from the conventional design process of the drive system, the structure of the mobile robot arm is analyzed firstly in this paper to obtain the design requirements of the drive system of the mobile robot arm. Then, according to the design requirements, the optimization performance indexes of the time and vibration are taken as the objective function, and the working performance of the motor, the reliability of the reducer and the weight of the motor reducer are taken as the constraint functions. The genetic algorithm is used to solve the multi-variable optimization problem. The data results show that the optimization model and method are feasible, and the working performance of the mobile robot arm is improved overall.
KeywordsUnmanned mining working face Patrol robot Mobile robot arm Optimization of the drive system
The author first thanks the doctoral supervisor for his support and guidance. Then thanks to the financial and technical support provided by the foreign robotics project(No. 2018LNGXGJWPY-ZD001), and also to the help of laboratory researchers.
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