Minimum Dynamic Cable Tension Workspace Generation Techniques and Cable Tension Sensitivity Analysis Methods for Cable-Suspended Gangue-Sorting Robots
نویسندگان
چکیده
The separation of gangues from coals with robots is an effective and practicable means. Therefore, a cable-suspended gangue-sorting robot (CSGSR) end-grab was developed in our early work. Due to the unidirectional characteristic, flexibility cables, dynamic impact pick-and-place gangues, one significant issues robustness under internal external disturbances. Cable tensions, being end-grab’s constraints, have crucial effect on CSGSR while disturbances are on. Two main related CSGSR, as result, addressed present paper: minimum cable tension workspace generation sensitivity analysis method for tensions. Firstly, four tensions located at arbitrary position task space were obtained dynamics CSGSR. In addition, (MDCTW) generating approach presented, where greater than preset value, therefore ensuring Secondly, (DCTS) proposed grey relational analysis, by which influence degree positions considered. Finally, effectiveness MDCTW algorithm DCTS examined through simulation it indicated that able provide theoretical guidance trajectory planning practice.
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ژورنال
عنوان ژورنال: Machines
سال: 2023
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines11030338