Research On Kinematics Modeling And Trajectory Planning Of Manipulator For Coal Mine Drilling Robot

China is both a big country of coal resources and a big country of coal consumption.Therefore,the issue of coal mine safety has always been highly valued.In 2019,the State Administration of Coal Mine Safety Supervision released the "Key R&D Catalogue of Coal Mine Robots",which proposed 38 kinds of coal mine robots,including coal mine drilling robots.Manipulator as an indispensable device for the coal mine drilling robot,the automatic loading and unloading of the drill pipe is a prerequisite for the coal mine drilling robot to perform other tasks,which directly determines whether the coal mine drilling robot can drill properly and intelligently.Therefore,in order to make the manipulator can quickly and smoothly complete the task of bar,the trajectory planning of coal mine drilling robot manipulator is studied in this thesis.The main research contents are as follows:(1)Kinematics model of coal mine drilling robot manipulator based on standard D-H parameter method.The established model is analyzed by forward and inverse kinematics.According to the established manipulator kinematics model,all position points available to manipulator end effectors by Monte Carlo method in MATLAB.Then the motion point envelope diagram is drawn.(2)An improved particle swarm algorithm is proposed for the problem that particle swarm algorithm(PSO)is prone to premature aging.Subsequently,a 3-5-3 segmented polynomial and an improved particle swarm algorithm are used for trajectory planning and optimization of the coal mine drilling robot manipulator in joint space with the goal of time optimality.The simulation results show that the motion trajectories obtained from the time-optimal trajectory planning of the coal mine drilling robot manipulator based on the improved particle swarm algorithm are smooth and all satisfy the constraints.The running time is reduced from 3.1685 s to 2.3854 s.The overall running time was reduced by approximately 25% compared to the pre-optimization period,improving the efficiency of the robot.(3)In order to solve the problem that single objective optimization may cause undesirable effect of other objective functions,a study is conducted for multi-objective trajectory planning of coal mine drilling robot manipulator.Firstly,a locally controllable non-uniform B spline is chosen as the interpolation curve.Secondly,the mathematical model of time,energy and jerk of the manipulator is established under the kinematic constraints of the coal mine drilling robot manipulator.The multi-objective particle swarm optimization(MOPSO)and non-dominated sorting genetic algorithm(NSGAII)are used to iteratively find the optimization of its three objective functions.It is found that the Pareto solution set obtained by NSGA-II is relatively more suitable for trajectory planning studies.Finally,the potential optimal solutions in the Pareto solution set obtained by the NSGA-II algorithm were selected using the average fuzzy affiliation function,and the trajectories of the manipulator at the optimal solution and the derivative curves of each order were compared using the nonuniform 5th and 7th B splines,respectively.(4)Aiming at the trajectory planning algorithm proposed in this thesis,a test platform of coal mine drilling robot manipulator based on PLC is built for trajectory planning test.Through the experimental results found that the algorithm can realize the smooth and efficient work requirements of manipulator,and it runs well when the task was carried out.