Abstract
This article aims to establish the relationship between the position and cable tension influencing factors and the stability, and propose a method for quantitative stability sensitivity assessment for a cable-based coal–gangue picking robot. Firstly, a structural stability measure approach is proposed for the cable-based coal–gangue picking robot. Secondly, a stability sensitivity analysis model is developed to investigate the stability sensitivity on the selected influencing factors based on the grey relational degree, where the influencing degree of each factor on the stability for the cable-based coal–gangue picking robot is explored with grey relational analysis. At last, a numerical study is carried out to demonstrate the stability measure approach and stability sensitivity analysis model for the cable-based coal–gangue picking robot was scientific and reasonable, where the end-grab position set which the robot can meet the predetermined stability requirements is obtained. And meanwhile, the correlation of each influencing factor on the stability for the robot is calculated. And the stability sensitivity simulation results show that (1) the correlation of the seven influencing factors on the stability are, in a descending order, cable tension T 2 > cable tension T 4 > cable tension T 3 > cable tension T 1 > z-direction displacement of the end-grab > x-direction displacement > y-direction displacement; (2) among the influencing factors, the cable tensions have greater influence on the stability of coal–gangue picking robot, and it is followed by the z-direction displacement of the end-grab, while y-direction displacement is found to have the minimal influence. This article provides a guiding direction for robust design of the sorting trajectory planning and control of the coal–gangue picking robots.
Highlights
Coals being an important energy source in China play a key role in the economic development
It should be pointed that the investigated cablebased coal–gangue picking robot consists of a cable-driven system and an end-grab possessing a certain degree of freedom to adjust its attitudes while the three translational degrees of freedom is achieved by the four cables, and the robot can be seen a cable-based parallel robot with a point mass
We focus on the stability evaluation approach and stability sensitivity analysis model for the cable-based coal–gangue picking robot, in which the research presented reports a stability sensitivity analysis of the seven factors influencing the stability by using grey relational analysis
Summary
Coals being an important energy source in China play a key role in the economic development. The cablebased parallel robots meet these requirements on this occasion This kind of robot, recently, has been focused on the robotic separation of gangues from coals, and a completely restrained cable-based coal– gangue picking robot with an end-grab, whose end-effector has three translational degrees of freedom driven by four cables, is proposed to realize the separation of the coals and gangues.[2] It should be pointed that the investigated cablebased coal–gangue picking robot consists of a cable-driven system and an end-grab possessing a certain degree of freedom to adjust its attitudes while the three translational degrees of freedom is achieved by the four cables, and the robot can be seen a cable-based parallel robot with a point mass. Particular emphasis must be placed on the stability of the cable-based coal–gangue picking robot, and while the influencing degrees of the factors on the stability for the robot must be explored, which can provide guidance for the research of robust optimization design of the sorting trajectory and stability control
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