Kinematic simulation and trajectory planning of intelligent tunneling automatic mesh-laying robot.

Abstract

China is the world's largest producer and consumer of coal, with an increasing demand for coal resources. Improving coal mining efficiency and ensuring production safety have become key issues that urgently need to be addressed in the intelligent construction of coal mines. Tunnel excavation is one of the core processes in coal mine production, and anchor mesh anchoring support, as a key step in tunnel excavation, has become a focus of attention for researchers. Currently, in the process of coal mine roadway excavation in China, anchor mesh support mostly adopts manual operation, which has problems such as low operation efficiency, high safety risks, and difficult quality control. In response to these problems, this paper designs and develops an automatic mesh-laying robot system integrated into the body of the excavation anchor integrated machine. Through the optimization design of the mechanical arm structure, robot kinematic modeling, optimization of the operation path planning control algorithm, and virtual simulation experiment verification, the possibility of barrier free operation in the narrow space of the automatic mesh-laying robot system has been verified. Finally, a physical prototype of the automatic mesh-laying machine has been developed and the deployment experiment of the autonomous mesh-laying operation control algorithm physical prototype has been carried out. The results show that the trajectory planning algorithm based on polynomial interpolation can efficiently complete the trajectory tracking of the preset operation path. Compared with manual operation, The quality and efficiency of mesh-laying have improved significantly, effectively reducing the labor intensity of workers and enhancing operational safety.