摘要
矿井通风安全是煤炭开采工作中的重要保证,巷道中风速、风量和空气成分等参数实时监测事关矿工生命安全。为了避免传统气体检测设备测量范围小、机构运动不够灵活,机器人本体采用串联式机器人,采用Fluent软件建立瓦斯模型,确定机器人检测范围,针对其运动模型与轨迹进行研究,建立机器人D-H参数模型并进行运动学分析,判断机械臂工作范围;利用关节空间轨迹规划方法进行轨迹规划,选用双S速度曲线作为机器人测风过程中的运动轨迹,再采用coppeliaSim软件进行模拟环境下的仿真,对机器人轨迹进行跟踪,验证运动的平稳性;利用人工智能算法对测风过程中的轨迹进行优化,相比于蚁群算法、遗传算法,基于遗传原理的改进粒子群算法运算过程中收敛性较好,适用于通风检测中多监测点的轨迹规划,得出最优轨迹耗时仅需0.7871 s。
Mine ventilation safety ensures coal mining.Real-time monitoring of parameters such as wind speed,air volume and air composition in roadway greatly contributes to the safety of workers.Since the traditional gas detection equipment suffers small measuring range and unflexible mechanism movement,in this article a tandem robot is adopted.The gas model was established by using Fluent software to determine the detecion range of the robot,efforts are made to explore its motion model and trajectory.The D-H parameter model of the robot is set up and then subject to the kinematic analysis,in order to determine the manipulator’s working range.The joint space trajectory planning method is used for trajectory planning,and the double S velocity curve is used as the robot’s trajectory in the process of wind measurement.The actual motion effect is simulated in the coppeliasim simulation environment,and the robot’s trajectory is tracked to verify its motion stability.The artificial intelligence algorithm is used to optimize the robot’s trajectory in the process of wind measurement.Compared with ant colony algorithm and the genetic algorithm,the improved particle swarm optimization algorithm based on the genetic principle has better convergence in the calculation process,which is suitable for trajectory planning of multiple monitoring points in ventilation detection.The optimal trajectory takes merely 0.7871 s.
作者
张延军
刘敏强
ZHANG Yanjun;LIU Minqiang(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024)
出处
《机械设计》
北大核心
2025年第7期133-141,共9页
Journal of Machine Design
基金
2021年度山西省重点研发计划项目(202102010101010)。
关键词
瓦斯模型
机械臂运动学
双S速度曲线
改进粒子群算法
Gas Model
kinematics of manipulator
double S velocity curve
improved particle swarm algorithm
