Title: Kinematic and workspace analysis of redundant heterogeneous robot for flat slag of high temperature furnace

Authors: Haixing Wang; Hongsen Wang; Qunpo Liu; Zhuoran Zhang

Addresses: School of Electrical Engineering and Automation, Henan Polytechnic University, 2001 Century Avenue, Jiaozuo 454003, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, 2001 Century Avenue, Jiaozuo 454003, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, 2001 Century Avenue, Jiaozuo 454003, Henan, China ' School of Electrical Engineering and Automation, Henan Polytechnic University, 2001 Century Avenue, Jiaozuo 454003, Henan, China

Abstract: In China, most of the high temperature coal stove combustion process needs people to rake the coal cinder. In this paper, a heterogeneous redundant robot is designed to rake coal cinder. The system consists of a six-axis robot, a robot's orbit, a rake and a rake's bracket orbit. In order to achieve controllable, safe and efficient work of raking coal cinder in high temperature coal furnace, in this study, the constraint conditions of each limit position are modelled mathematically, and the parameters of the robot system are optimised by an optimal solution of structural parameters under multi-variables and multi-constraints. Finally, the forward kinematics model of the whole heterogeneous redundant robot is established, and the feasibility of the scheme is verified by simulation.

Keywords: rake flat coal cinder; heterogeneous redundant robot; structural design; system parameter optimisation; forward kinematics model.

DOI: 10.1504/IJCCPS.2023.133726

International Journal of Cybernetics and Cyber-Physical Systems, 2023 Vol.1 No.3, pp.223 - 233

Received: 02 Mar 2022
Accepted: 06 Apr 2022
Published online: 02 Oct 2023 *

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