Simulation modeling and tracing optimal trajectory of robotic mining machine effector

All-Russian Conference on Challenges for Development in Mining Science and Mining Industry devoted to the 85th anniversary of Academician Mikhail Kurlenya

Fryanov, V.N.^1 ; Pavlova, L.D.^1

Siberian State Industrial University, Novosibirsk, Russia^1

关键词: Coal extraction;    Mine designs;    Minimum energy;    Mining machines;    Motion path;    Optimal trajectories;    Robot intelligences;    Simulation model;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/53/1/012028/pdf
DOI  :  10.1088/1755-1315/53/1/012028

来源: IOP

【 摘 要 】

Within the framework of the robotic coal mine design for deep-level coal beds with the high gas content in the seismically active areas in the southern Kuzbass, the motion path parameters for an effector of a robotic mining machine are evaluated. The simulation model is meant for selection of minimum energy-based optimum trajectory for the robot effector, calculation of stresses and strains in a coal bed in a variable perimeter shortwall in the course of coal extraction, determination of coordinates of a coal bed edge area with the maximum disintegration of coal, and for choice of direction of the robot effector to get in contact with the mentioned area and to break coal at the minimum energy input. It is suggested to use the model in the engineering of the robot intelligence.