Research Of Kinematic Performance And Motion Control Of A New Relining Manipulator Of Ball Mill

Mill equipment is an important equipment in the modern mining enterprises and in the process of manufacturing of various ore.The internal linings are vulnerable and easily damaged,due to the long-term impact of mill body and material.Therefore,the mining enterprises need to change linings regularly according to the degree of damage.It is not only a waste of time,but also to reduce economic benefits of mining enterprises.In the paper,a new relining manipulator of 4.8*13.8m ball mill that it can realize automated installation was designed according to actual demand of the mill enterprises.The research contents as follows:A new relining manipulator by Solidworks was designed and the new structure was analyzed,according to situation of install linings of the enterprises.Firstly,the coordinate system of manipulator's each joint were established according to D-H parameter method,and the relative position and attitude of the different joint coordinate system were acquired by the homogeneous transformation matrix.The kinematics equation of manipulator was obtained.Secondly,the end executor pose was acquired after a series of calculation.At last,the end executor pose was simulated with the Robotic Toolbox kit by selecting different parameters of manipulator.The same result of simulation and theoretical calculation verified the correctness of the end executor pose of relining manipulator.The workspace of manipulator was analyzed and verified based on numerical method by Monte Carlo and the improved hybrid calculation method by SimMechanics modeling.The result indicated the workspace of lining manipulator was reached in the reasonable range.The similar graphics of the two simulations verified the validity of the structure.The dynamics equation of the manipulator was established based on Newton-Euler method and inverse dynamics problem of manipulator was studied.The virtual prototype model was established of manipulator based on ADAMS software and the dynamics simulation analysis was carried.The similar curves of the force and moment were acquired of the simulation and actual situation.The result of simulation verified the correctness of the mechanical structure and laid foundation for follow-up controller was designed.In order to realize to install linings automatically,the controllers of new relining manipulator were designed and trajectory tracking of manipulator was researched.The traditional PD controller was designed based on gravity compensation;the fuzzy PD controller was designed based on gravity compensation;the computed torque controller was designed based on PD control;the computed torque controller with adaptive fuzzy logic compensation was designed for manipulator.Finally,the conclusion indicated that the joints' curves of manipulator were smooth and steady-state error was better of manipulator based on the computed torque controller with adaptive fuzzy logic compensation.So the fixed install linings of manipulator will be realized.