煤矿安全2023，Vol.54Issue(12)：239-245,7.DOI:10.13347/j.cnki.mkaq.2023.12.030
基于串并联变换的多机械臂矸石分拣系统
Multi-manipulator gangue sorting system based on series parallel transformation
摘要
Abstract
In order to solve the problem of single series or parallel robotic arms being unable to balance sorting load,sorting effi-ciency,and sorting accuracy for the sorting of medium and large scale gangue,a multi robotic arm gangue sorting system based on series parallel transformation was designed.Adopting a binocular stereo camera combined with a robotic arm eye system to achieve recognition and dynamic tracking of gangue;by using a multifunctional mechanical gripper,the shape transformation of grasping and shifting is achieved,and the gangue sorting method is achieved through series parallel transformation in conjunction with the mech-anical arm;by using a series parallel transformation control strategy,the volume and power of the robotic arm are effectively re-duced;using the KM algorithm to allocate tasks to the multi robotic arm gangue group,achieving the best task matching and achiev-ing efficient collaboration of the multi robotic arm sorting system;using greedy algorithms for path planning of multiple robotic arms to quickly obtain the optimal path;through the collaborative sorting control strategy of multiple robotic arms,fast and accurate sort-ing of gangue is achieved.关键词
矸石分拣系统/多功能机械手爪/串并联变换控制/KM算法/贪心算法/协同分拣控制Key words
gangue sorting system/multi-functional manipulator claw/series-parallel transformation control/KM algorithm/greedy algorithm/collaborative sorting control分类
矿业与冶金引用本文复制引用
迟海波..基于串并联变换的多机械臂矸石分拣系统[J].煤矿安全,2023,54(12):239-245,7.基金项目
天地科技股份有限公司科技创新创业资金专项资助项目(2020-TD-ZD010) （2020-TD-ZD010）
天地(常州)自动化股份有限公司研发资助项目(2022GY2008) （常州）
