A Multi-manipulator Cooperative Strategy Optimization Method with Time-varying Gangue Rate Considered

CAO Xiangang; QIAO Huanle; WU Xudong; WANG Peng; FAN Zhihai

doi:10.13433/j.cnki.1003-8728.20220159

Volume 42 Issue 11

Nov. 2023

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2023 > 42(11): 1887-1894

CAO Xiangang, QIAO Huanle, WU Xudong, WANG Peng, FAN Zhihai. A Multi-manipulator Cooperative Strategy Optimization Method with Time-varying Gangue Rate Considered[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(11): 1887-1894. doi: 10.13433/j.cnki.1003-8728.20220159

Citation:

CAO Xiangang, QIAO Huanle, WU Xudong, WANG Peng, FAN Zhihai. A Multi-manipulator Cooperative Strategy Optimization Method with Time-varying Gangue Rate Considered[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(11): 1887-1894. doi: 10.13433/j.cnki.1003-8728.20220159

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A Multi-manipulator Cooperative Strategy Optimization Method with Time-varying Gangue Rate Considered

doi: 10.13433/j.cnki.1003-8728.20220159

CAO Xiangang^{1, 2
,},
QIAO Huanle^{1, 2
,},
WU Xudong^{1, 2},
WANG Peng^{1, 2},
FAN Zhihai³

1.
School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
2.
Shaanxi Provincial Key Laboratory of Intelligent Testing of Mine Mechanical and Electrical Equipment, Xi'an 710054, China
3.
Shaanxi Tongchuan Mining Co., Ltd., Tongchuan 727000, Shaanxi, China

Received Date: 2021-09-02
Publish Date: 2023-11-30

Abstract

Abstract

In the process of coal production, the time varying of raw coal gangue rate causes low sorting efficiency. With the factors such as gangue quality, gangue recognition and manipulator sorting time considered, this paper uses the multi-factor fusion benefit matrix to optimize the multi-manipulator gangue sorting strategy under the condition of time-varying gangue rate. A multi-manipulator cooperative strategy model based on the benefit matrix was proposed. The sorting efficiency and the sorting gangue rate were used as evaluation criteria. A small sample gangue flow model is constructed by using the similarity principle. The element parameters of the benefit matrix are quantified with the entropy weight method. The experimental results show that the multi-manipulator cooperative strategy optimization method can effectively solve the gangue task allocation problem when the number of gangues is large. The gangue sorting rate and the sorted coal quality are effectively improved.
- coal gangue sorting,
- multi-manipulator coordination,
- multitask allocation,
- benefit matrix

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References(20)

References

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