Advertisement

Analysis and Optimization of the Drive System of the Mobile Robot Arm in Unmanned Mining Working Face

  • Lijuan Zhao
  • Zuen ShangEmail author
  • Bin Wang
  • Xionghao Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)

Abstract

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.

Keywords

Unmanned mining working face Patrol robot Mobile robot arm Optimization of the drive system 

Notes

Acknowledgement

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.

References

  1. 1.
    Wang, X., Meng, F.: Statistical analysis of large accidents in China’s coal mines in 2016. Nat. Hazards 92(1), 311–325 (2018)MathSciNetCrossRefGoogle Scholar
  2. 2.
    Jinhua, W.Z.H.: The recent technological development of intelligent mining in China. Eng. Engl. 3(4), 439–444 (2017)Google Scholar
  3. 3.
    Zhao, J., et al.: A search-and-rescue robot system for remotely sensing the underground coal mine environment. Sensors 17(10), 2426 (2017)CrossRefGoogle Scholar
  4. 4.
    Deyong, S., Jianwei, Z., Xun, F.: Design and mechanics analysis of moving mechanism of inspection robot for thin coal seam. Open Mater. Sci. J. 9(1), 43–48 (2015)CrossRefGoogle Scholar
  5. 5.
    Schwarz, M., et al.: NimbRo rescue: solving disaster-response tasks with the mobile manipulation robot momaro. J. Field Robot. 34(2), 400–425 (2017)CrossRefGoogle Scholar
  6. 6.
    Ito, K., Maruyama, H.: Semi-autonomous serially connected multi-crawler robot for search and rescue. Adv. Robot. 30(7), 489–503 (2016)CrossRefGoogle Scholar
  7. 7.
    Deepak, B., Parhi, D.R.: Control of an automated mobile manipulator using artificial immune system. J. Exp. Theor. Artif. Intell. 28(1-2), 417–439 (2016)CrossRefGoogle Scholar
  8. 8.
    Korayem, M.H., Esfeden, R.A., Nekoo, S.R.: Path planning algorithm in wheeled mobile manipulators based on motion of arms. J. Mech. Sci. Technol. 29(4), 1753–1763 (2015)CrossRefGoogle Scholar
  9. 9.
    Benath, K.: Advanced design rules for the energy optimal motor-gearbox combination in servo drive systems. In: 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM, pp. 94–99 (2014)Google Scholar
  10. 10.
    Giberti, H.: Drive system sizing of a 6-DOF parallel robotic platform. In: ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA, pp. 124–129 (2014)Google Scholar
  11. 11.
    Johansson, C., Ölvander, J., Derelöv, M.: Multi-objective optimization for safety and reliability trade-off: Optimization and results processing. Proc. Inst. Mech. Eng. Part O J. Risk Reliab. 232(6), 661–676 (2018)Google Scholar
  12. 12.
    Kim, E., Seki, K., Iwasaki, M.: Motion control of industrial robots by considering serial two-link robot arm model with joint nonlinearities. J. Mech. Sci. Technol. 28(4), 1519–1527 (2014)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Liaoning Technical UniversityFuxinChina

Personalised recommendations