Mining Robot Working Device Based On Elastic Dynamics Optimization Design

This paper studied robotic excavator’s working device on dynamics at theworking moment.At this time, the rotary platform of the robotic excavator wasfixed.And the bucket moved so slowly that it was considered as static.Based onthe above condition,a closed chain mechanism model was set up.The modelmainly contained the boom, the arm and the boom cylinder.The cylinder wasconverted into equivalent cross section steam with a equivalence principle.According to organization elastodynamics,the closed chain mechanism wasanalysed and elastodynamics model was established.The elastodynamicscharacteristics of three typical poses of robotic excavator was analysed.This paper optimized a working device by changing the positions of thehinge points B and F.The optimization process aimed to improve theelastodynamics performance of the working device.Firstly,change the location parameters of the hinge point B.Theoptimization objective function was the weighted sums of the former four ordersof working mechanism’s natural frequency.And optimization variables were thelength of some specific units.To keep the robotic excavator type,three equalityconstraints and fourteen inequality constraints were established.Then aconstrained optimization model was set up.Secondly,on the basis of optimization results of the previous step, changethe location parameters of the hinge point F.The optimization objective functionwas the weighted sums of the former four orders of working mechanism’snatural frequency.And optimization variables were the length of some specificunits.To keep the robotic excavator type,four equality constraints andtwenty-four inequality constraints were established.Then the other oneconstrained optimization model was set up.The two optimzation models hadmultiple constraints.The particle swarm optimization algorithm with penaltyvalues was employed to solve the constrained optimization problems.Theoptimization results show dynamics performance of the working mechanism isimproved distinctly. The method of this paper provides a new reference for the design of therobotic excavator’s working device,and provides an important reference for theapplication of particle swarm optimization algorithm in the field of the designfor the robotic excavator’s working device.