Structural development and implementation of new underground heavy-load robot based on configuration optimization
To meet the urgent market need for implementation of various heavy-load operations within complex and restricted underground environments, this paper proposes a new scientific structural development scheme for underground heavy-load robot. The scheme combines topology optimization and modular scale...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2025-06-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132251342840 |
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| _version_ | 1849329988479746048 |
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| author | Lixia Fang Yun Chen Qinwei Zhang Cong Ma Miao Wu |
| author_facet | Lixia Fang Yun Chen Qinwei Zhang Cong Ma Miao Wu |
| author_sort | Lixia Fang |
| collection | DOAJ |
| description | To meet the urgent market need for implementation of various heavy-load operations within complex and restricted underground environments, this paper proposes a new scientific structural development scheme for underground heavy-load robot. The scheme combines topology optimization and modular scale synthesis to achieve the optimal configuration for underground heavy-load robot. Firstly, orienting to the specific working environment and design requirements, a feasible configuration was deduced by the configuration synthesis method. Then, the topology optimization was carried out to output a new stable configuration for underground heavy-load robot with good flexibility and stability. Secondly, the modular design idea was applied to realize the optimal scale synthesis and function expansion of underground heavy-load robot. Finally, based on the kinematic analysis model, a reasonable and effective performance evaluation system was established to verify the performance of underground heavy-load robot. Simulation and experimental results indicated that the underground heavy-load robot developed in this paper had a more reasonable structure and more comprehensive functions. It can fully meet the design requirements of flexible operation and high carrying capacity in the confined underground space. The research in this paper provides new ideas for the structural development of heavy-load robot, effectively enhances the design efficiency of spatial multi-freedom degree industrial robot, and lays a foundation for the coordinated control of modern intelligent robots. |
| format | Article |
| id | doaj-art-818b8de8e81d499f92aaa41b73bdbd89 |
| institution | Kabale University |
| issn | 1687-8140 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj-art-818b8de8e81d499f92aaa41b73bdbd892025-08-20T03:47:06ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402025-06-011710.1177/16878132251342840Structural development and implementation of new underground heavy-load robot based on configuration optimizationLixia Fang0Yun Chen1Qinwei Zhang2Cong Ma3Miao Wu4College of Mechatronic Engineering, North Minzu University, Yinchuan, ChinaCollege of Mechatronic Engineering, North Minzu University, Yinchuan, ChinaCollege of Mechatronic Engineering, North Minzu University, Yinchuan, ChinaCollege of Mechatronic Engineering, North Minzu University, Yinchuan, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, ChinaTo meet the urgent market need for implementation of various heavy-load operations within complex and restricted underground environments, this paper proposes a new scientific structural development scheme for underground heavy-load robot. The scheme combines topology optimization and modular scale synthesis to achieve the optimal configuration for underground heavy-load robot. Firstly, orienting to the specific working environment and design requirements, a feasible configuration was deduced by the configuration synthesis method. Then, the topology optimization was carried out to output a new stable configuration for underground heavy-load robot with good flexibility and stability. Secondly, the modular design idea was applied to realize the optimal scale synthesis and function expansion of underground heavy-load robot. Finally, based on the kinematic analysis model, a reasonable and effective performance evaluation system was established to verify the performance of underground heavy-load robot. Simulation and experimental results indicated that the underground heavy-load robot developed in this paper had a more reasonable structure and more comprehensive functions. It can fully meet the design requirements of flexible operation and high carrying capacity in the confined underground space. The research in this paper provides new ideas for the structural development of heavy-load robot, effectively enhances the design efficiency of spatial multi-freedom degree industrial robot, and lays a foundation for the coordinated control of modern intelligent robots.https://doi.org/10.1177/16878132251342840 |
| spellingShingle | Lixia Fang Yun Chen Qinwei Zhang Cong Ma Miao Wu Structural development and implementation of new underground heavy-load robot based on configuration optimization Advances in Mechanical Engineering |
| title | Structural development and implementation of new underground heavy-load robot based on configuration optimization |
| title_full | Structural development and implementation of new underground heavy-load robot based on configuration optimization |
| title_fullStr | Structural development and implementation of new underground heavy-load robot based on configuration optimization |
| title_full_unstemmed | Structural development and implementation of new underground heavy-load robot based on configuration optimization |
| title_short | Structural development and implementation of new underground heavy-load robot based on configuration optimization |
| title_sort | structural development and implementation of new underground heavy load robot based on configuration optimization |
| url | https://doi.org/10.1177/16878132251342840 |
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