To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und...To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.展开更多
Explaining fundamentals of application of cable bolting for a thick seam depillaring,this paper summarizes the results of field studies conducted during adoption of this approach in more than fifteen panels of Madhusu...Explaining fundamentals of application of cable bolting for a thick seam depillaring,this paper summarizes the results of field studies conducted during adoption of this approach in more than fifteen panels of Madhusudanpur 7 pit and incline mine.Nearly 7.0 m thick Kajora top coal seam of this mine is developed on pillars along the floor horizon to an average height of 3.0 m,leaving a coal band of around 4.0 m along the roof.Analysis of procured core samples showed that roof strata are easily caveable with a caveability index value of around 2000 only.Easily caveable overlying strata and shallow depth of cover alleviated most of the expected strata mechanics problems of the thick seam mining.However,extraction of total thickness at shallow cover caused differential-subsidence and cracks on the surface.These manifestations were immediately tackled to avoid creation of a breathing path for spontaneous heating in the extracted area.展开更多
基金National Natural Science Foundation of China(Grant Nos.51925502,51575150).
文摘To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.
基金sponsored by the general manager,Kajora Area of Eastern Coalfield Limited(ECL).Co-operation of general manager of the Area,project officer,Madhusudanpur 7 Pit and Incline Colliery,manager and safety officer,Madhusudanpur 7 Pit and Incline Colliery in conducting this study is thankfully acknowledged
文摘Explaining fundamentals of application of cable bolting for a thick seam depillaring,this paper summarizes the results of field studies conducted during adoption of this approach in more than fifteen panels of Madhusudanpur 7 pit and incline mine.Nearly 7.0 m thick Kajora top coal seam of this mine is developed on pillars along the floor horizon to an average height of 3.0 m,leaving a coal band of around 4.0 m along the roof.Analysis of procured core samples showed that roof strata are easily caveable with a caveability index value of around 2000 only.Easily caveable overlying strata and shallow depth of cover alleviated most of the expected strata mechanics problems of the thick seam mining.However,extraction of total thickness at shallow cover caused differential-subsidence and cracks on the surface.These manifestations were immediately tackled to avoid creation of a breathing path for spontaneous heating in the extracted area.
