煤矿机械

针对桁架式选矸机器人在抓矸-置矸作业时，机械臂因高速往复运动产生的冲击与残余振动导致作业效率低、定位精度差的问题，提出一种基于sin~2x型加速度曲线的机械臂轨迹规划算法。首先，对选矸机器人机械臂的结构形式进行分析，建立包含齿轮齿条啮合特性的机械臂动力学模型，获得轨迹形式对机械臂冲击振动特性的影响机理；其次，针对选矸实际工况，以同步跟踪缓冲抓取为基础，设计基于sin~2x型加速度曲线的机械臂轨迹规划算法；最后，结合现有样机开展抓取实验进行算法验证。实验结果表明：相较梯形速度曲线轨迹规划算法，所提出的轨迹规划算法能显著降低机械臂的振动冲击，提升桁架式选矸机器人运动的平稳性，具有较高的工程价值。

Aiming at the problems of low operational efficiency and poor positioning accuracy in trusstype gangue selection robot caused by impact and residual vibration due to the high-speed reciprocating motion of the robotic arm during the gangue grasping and placing operations, a robotic arm trajectory planning algorithm based on the sin~2x type acceleration curve was proposed. First, the structural configuration of the robotic arm of the gangue selection robot was analyzed, and a dynamic model of the robotic arm incorporating gear-rack meshing characteristics was established to elucidate the influence mechanism of trajectory form on the impact and vibration characteristics of the robotic arm. Second,considering the actual working conditions of gangue selection and synchronous tracking buffer grasping,a robotic arm trajectory planning algorithm based on the sin~2x type acceleration curve was designed.Finally, experiments were conducted using the existing prototype to verify the effectiveness of the algorithm. The results indicate that compared with the trapezoidal velocity curve trajectory planning algorithm, the proposed algorithm significantly reduces the vibration and impact of the robotic arm,enhances the smoothness of the movement of the truss-type gangue selection robot, and demonstrates substantial engineering value.