scholarly journals Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model

2021 ◽  
Author(s):  
Suhua Li ◽  
Jiacheng Xie ◽  
Fang Ren ◽  
Xin Zhang ◽  
Xuewen Wang ◽  
...  
Keyword(s):  
Coal Seam ◽  
Industrial Robot ◽  
Steering Committee ◽  
High Accuracy ◽  
Simulation System ◽  
Direct Proportion ◽  
Hydraulic Support ◽  
Actual Distance ◽  
Scraper Conveyor ◽  
Comparison And Analysis

AbstractThe movement of the floating connecting mechanism between a hydraulic support and scraper conveyor is space movement; thus, when the hydraulic support pushes the scraper conveyor, there is an error between the actual distance of the scraper conveyor and the theoretical moving distance. As a result, the scraper conveyor cannot obtain the straightness requirement. Therefore, the movement law of the floating connecting mechanism between the hydraulic support and scraper conveyor is analyzed and programmed into the Unity3D to realize accurate pushing of the scraper conveyor via hydraulic support. The Coal Seam + Equipment Joint Virtual Straightening System is established, and a straightening method based on the motion law of a floating connection is proposed as the default method of the system. In addition, a straightening simulation of the scraper conveyor was performed on a complex coal seam floor, the results demonstrate that the average straightening error of the scraper conveyor is within 2–8 mm, and is in direct proportion to the fluctuation of the coal seam floor in the strike of the seam with high accuracy, the straightness of scraper conveyor is more affected by the subsidence terrain during straightening than by the bulge terrain. And some conclusions are verified by experiment. Based on the verification of the relevant conclusions, a comparison and analysis of Longwall Automation Steering Committee (LASC) straightening technology and default straightening method in the simulation system shows that the straightness accuracy of LASC straightening technology under complex floor conditions is slightly less than that of the default straightening method in the proposed system.

scholarly journals Path Planning of Hydraulic Support Pushing Mechanism Based on Extreme Learning Machine and Descartes Path Planning

Symmetry ◽  
2021 ◽  
Vol 13 (1) ◽  
pp. 97
Author(s):  
Suhua Li ◽  
Jiacheng Xie ◽  
Xuewen Wang ◽  
Fang Ren ◽  
Xin Zhang ◽  
...  
Keyword(s):  
Path Planning ◽  
Extreme Learning Machine ◽  
Target Location ◽  
Industrial Robot ◽  
Prediction Method ◽  
Local Error ◽  
Hydraulic Support ◽  
Key Points ◽  
Scraper Conveyor ◽  
Learning Machine

As a floating system connecting hydraulic support and scraper conveyor, the path planning of pushing mechanism is of great significance for their coordinated movement. In this paper, a method for path planning of hydraulic support pushing mechanism based on extreme learning machine (ELM) and Descartes path planning is proposed. According to the motion characteristics of moving mechanism, it is transformed into industrial robot model, based on the characteristics of the coordinates of the key points on the ear seat of the scraper conveyor when advancing, a prediction method of the key points coordinates based on ELM is proposed, so the target location of the end-effector is obtained. The path of the joint is determined by polynomial path partition and Descartes path planning method. The path is modified by Gaussian filtering method, and the peak value of path obtained by planning is filtered out, and the path correction is realized. Finally, the virtual simulation test is carried out in Unity3D. The planned coordinate curve has Poisson-like distribution and approximately around the target coordinate curve, and local error and correction error are within 2 cm and 0.1 cm, respectively. The coordinate curve obtained by combining planning and correction has a better effect.

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

2013 ◽  
Vol 694-697 ◽  
pp. 1652-1655
Author(s):  
Ji Yan Wang
Keyword(s):  
Dynamic Characteristics ◽  
Upper Bound ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Pd Controller ◽  
Robust Controller ◽  
Convergence And Stability ◽  
Comparison And Analysis ◽  
Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

scholarly journals Mechanical Modeling of Roof Fracture Instability Mechanism and Its Control in Top-Coal Caving Mining under Thin Topsoil of Shallow Coal Seam

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Peilin Gong ◽  
Tong Zhao ◽  
Kaan Yetilmezsoy ◽  
Kang Yi
Keyword(s):  
Coal Seam ◽  
Mechanical Model ◽  
Main Roof ◽  
Stability Control ◽  
Hydraulic Support ◽  
Rock Stability ◽  
Shallow Coal Seam ◽  
Minimum Height ◽  
The Stability ◽  
Working Resistance

This study aimed to explore the safe and efficient top-coal caving mining under thin topsoil of shallow coal seam (SCS) and realize the optimization of hydraulic support. Numerical simulation and theoretical analysis were used to reveal the stress distribution of the topsoil, the structure characteristics of the main roof blocks, and the development of the roof subsidence convergence. Step subsidence of the initial fractured main roof after sliding destabilization frequently existed, which seriously threatened the safety of the hydraulic supports. Hence, a mechanical model of the main roof blocks, where the topsoil thickness was less than the minimum height of the unloading arch, was established, and the mechanical criterion of the stability was achieved. The working resistance of the hydraulic support was calculated, and the reasonable type was optimized so as to avoid crushing accident. Findings of the present analysis indicated that the hydraulic support optimization was mainly affected by fractured main roof blocks during the first weighting. According to the block stability mechanical model based on Mohr–Coulomb criterion, the required working resistance and the supporting intensity were determined as 4899 kN and 0.58 MPa, respectively. The ZZF5200/19/32S low-position top-coal caving hydraulic support was selected for the studied mine and support-surrounding rock stability control of thin-topsoil SCS could be achieved without crushing accident.

International Mass Claims Processes

2007 ◽  
Keyword(s):  
International Law ◽  
Dispute Resolution ◽  
Large Scale ◽  
Steering Committee ◽  
Legal Issues ◽  
Comprehensive Information ◽  
International Dispute ◽  
The Holocaust ◽  
Comparison And Analysis ◽  
Modern Mass

This book analyzes a significant procedural innovation in international law — the development of mass claims processes. Mass claims processes have become increasingly important phenomena in international dispute resolution. This is the first book to provide comprehensive information for a systematic comparison and analysis of the legal issues and practical matters involved in their establishment and operation. This book considers eleven of the highest profile modern mass claims tribunals and commissions created to redress large-scale losses. These include processes resolving claims arising from the Iranian Revolution, Iraq’s invasion of Kuwait, the Holocaust, and conflicts in the Former Yugoslavia and between Eritrea and Ethiopia. The book identifies and focuses on forty-seven basic issues that experience shows typically arise with respect to international mass claims processes, offering descriptions and commentary on the ways in which the various processes have approached each issue. Much of the information gathered in this book is not publicly available elsewhere and is based on the knowledge and experience of the 25 members of the Permanent Court of Arbitration’s Steering Committee on mass claims processes, experts who have either served on the processes or otherwise been directly engaged in their activities.

A Coal Mine Hydraulic Support Design and Type Selection of Medium Thick Coal Seam

2014 ◽  
Vol 633-634 ◽  
pp. 1128-1132
Author(s):  
Li Rong Zhang
Keyword(s):  
Coal Seam ◽  
Coal Mine ◽  
Simulation Method ◽  
Bottom Plate ◽  
Mining Equipment ◽  
Hydraulic Support ◽  
Support Design ◽  
Thick Coal Seam ◽  
Technical Parameters ◽  
Selection Of

Design and selection of hydraulic support is the core of coal mine fully mechanized mining equipment selection and matching, determine the hydraulic supporting strength Using the numerical simulation method and shallow buried depth of roof structure of theoretical calculation method, determines the necessary technical parameters such as the support frame, the bracket height and the bottom plate pressure According to the coal seam thickness and coal seam structure, which has the instructive meaning in application.

Study on the Relationship between Hydraulic Support on the Working Face with Large Mining Height and Surrounding Rock

2011 ◽  
Vol 328-330 ◽  
pp. 1671-1674
Author(s):  
Ying Ma ◽  
Sheng Zhong
Keyword(s):  
Coal Seam ◽  
Surrounding Rock ◽  
Hydraulic Support ◽  
Working Face ◽  
Safety Work ◽  
Immediate Roof ◽  
The Face ◽  
Large Mining Height ◽  
The Relationship ◽  
Mining Height

Using unified model and theory of rock pressure, the problems, such as caving of stope roof with large mining height and destruction of support, strata movement and surface subsidence, are unified analyzed and researched. The results show that: pressure shell is dynamic shell, which moves forward with the propulsion of working face; with the increase of mining height on the face, the height of fracture zone in coal seam increases, not continuously, but jumpily; with the increase of mining height, support load rises, but the degree of this rise decreases gradually, increased degree of immediate roof weight should be greater than that of given deformation pressure. The results provide necessary basis for reliability of hydraulic support on the working face with large mining height and safety work in the underground.

Implementation of Dynamic Simulation System on Six DOF Industrial Robot

2013 ◽  
Vol 373-375 ◽  
pp. 206-212
Author(s):  
Qiang Liu ◽  
Yu Han ◽  
Min Hao Liu ◽  
Shang Fei Tian
Keyword(s):  
Dynamic Simulation ◽  
Control Algorithm ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Simulation System ◽  
Kinematic Equation ◽  
Software Simulation ◽  
Kinematic Control ◽  
Six Dof ◽  
Vision Simulation

A dynamic simulation system whose model objects were industrial robot was designed. An advanced and quickly inverse kinematic algorithm was used to solve inverse kinematic equation for 6DOF industrial robot, the time of solve was improved. The method of trajectory planning was developed. The vision simulation for industrial robot was completed by Creator and Vega software. Simulation result shows that the requirement of kinematic control has been achieved and provides an intuitive and convenient tool for research of the kinematic control algorithm for industrial robot.

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