Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning
Joint Authors
Abubakar, Shitu
Luo, Chunlei
He, Yi
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-01
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Traditionally, the construction of tunnel support is to manually move the manipulator through the remote control.
During the manual construction process, there is a large rebound rate and a reduction in the compactness of the concrete.
Skilled operators can obtain better shot blasting quality, but training of a skilled worker is costly.
In this study, an automatic shotcrete manipulator is proposed to complete spraying and improve the spraying quality.
The model of the manipulator is simplified into a planar two-link manipulator, solved the inverse kinematics of the shotcrete manipulator, and implemented the automatic trajectory planning process.
By simplifying the complex mechanical arm structure model into a simple planar two-link manipulator model, the inverse kinematics of the shotcrete manipulator is solved, and automatic trajectory planning software is developed, which can better help construction and reduce injury to personnel’s health and can also help the construction party save materials and improve economic efficiency and construction efficiency.
American Psychological Association (APA)
Luo, Chunlei& He, Yi& Abubakar, Shitu. 2020. Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning. Journal of Robotics،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190264
Modern Language Association (MLA)
Luo, Chunlei…[et al.]. Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning. Journal of Robotics No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1190264
American Medical Association (AMA)
Luo, Chunlei& He, Yi& Abubakar, Shitu. Solving Inverse Kinematics of the Shotcrete Manipulator Based on the Plane Two-Link Model and Trajectory Planning. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190264
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190264