Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis

This article aims to establish the relationship between the position and cable tension influencing factors and the stability, and propose a method for quantitative stability sensitivity assessment for a cable-based coal–gangue picking robot. Firstly, a structural stability measure approach is propos...

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Autores principales:	Peng Liu, Xinzhou Qiao, Xuhui Zhang
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/2a41093d11504442bd252f8d4c4363d6
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spelling	oai:doaj.org-article:2a41093d11504442bd252f8d4c4363d62021-12-02T03:05:11ZStability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis1729-881410.1177/17298814211059729https://doaj.org/article/2a41093d11504442bd252f8d4c4363d62021-11-01T00:00:00Zhttps://doi.org/10.1177/17298814211059729https://doaj.org/toc/1729-8814This article aims to establish the relationship between the position and cable tension influencing factors and the stability, and propose a method for quantitative stability sensitivity assessment for a cable-based coal–gangue picking robot. Firstly, a structural stability measure approach is proposed for the cable-based coal–gangue picking robot. Secondly, a stability sensitivity analysis model is developed to investigate the stability sensitivity on the selected influencing factors based on the grey relational degree, where the influencing degree of each factor on the stability for the cable-based coal–gangue picking robot is explored with grey relational analysis. At last, a numerical study is carried out to demonstrate the stability measure approach and stability sensitivity analysis model for the cable-based coal–gangue picking robot was scientific and reasonable, where the end-grab position set which the robot can meet the predetermined stability requirements is obtained. And meanwhile, the correlation of each influencing factor on the stability for the robot is calculated. And the stability sensitivity simulation results show that (1) the correlation of the seven influencing factors on the stability are, in a descending order, cable tension T 2 > cable tension T 4 > cable tension T 3 > cable tension T 1 > z -direction displacement of the end-grab > x -direction displacement > y -direction displacement; (2) among the influencing factors, the cable tensions have greater influence on the stability of coal–gangue picking robot, and it is followed by the z -direction displacement of the end-grab, while y -direction displacement is found to have the minimal influence. This article provides a guiding direction for robust design of the sorting trajectory planning and control of the coal–gangue picking robots.Peng LiuXinzhou QiaoXuhui ZhangSAGE PublishingarticleElectronicsTK7800-8360Electronic computers. Computer scienceQA75.5-76.95ENInternational Journal of Advanced Robotic Systems, Vol 18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95 Peng Liu Xinzhou Qiao Xuhui Zhang Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
description	This article aims to establish the relationship between the position and cable tension influencing factors and the stability, and propose a method for quantitative stability sensitivity assessment for a cable-based coal–gangue picking robot. Firstly, a structural stability measure approach is proposed for the cable-based coal–gangue picking robot. Secondly, a stability sensitivity analysis model is developed to investigate the stability sensitivity on the selected influencing factors based on the grey relational degree, where the influencing degree of each factor on the stability for the cable-based coal–gangue picking robot is explored with grey relational analysis. At last, a numerical study is carried out to demonstrate the stability measure approach and stability sensitivity analysis model for the cable-based coal–gangue picking robot was scientific and reasonable, where the end-grab position set which the robot can meet the predetermined stability requirements is obtained. And meanwhile, the correlation of each influencing factor on the stability for the robot is calculated. And the stability sensitivity simulation results show that (1) the correlation of the seven influencing factors on the stability are, in a descending order, cable tension T 2 > cable tension T 4 > cable tension T 3 > cable tension T 1 > z -direction displacement of the end-grab > x -direction displacement > y -direction displacement; (2) among the influencing factors, the cable tensions have greater influence on the stability of coal–gangue picking robot, and it is followed by the z -direction displacement of the end-grab, while y -direction displacement is found to have the minimal influence. This article provides a guiding direction for robust design of the sorting trajectory planning and control of the coal–gangue picking robots.
format	article
author	Peng Liu Xinzhou Qiao Xuhui Zhang
author_facet	Peng Liu Xinzhou Qiao Xuhui Zhang
author_sort	Peng Liu
title	Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
title_short	Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
title_full	Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
title_fullStr	Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
title_full_unstemmed	Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
title_sort	stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/2a41093d11504442bd252f8d4c4363d6
work_keys_str_mv	AT pengliu stabilitysensitivityforacablebasedcoalganguepickingrobotbasedongreyrelationalanalysis AT xinzhouqiao stabilitysensitivityforacablebasedcoalganguepickingrobotbasedongreyrelationalanalysis AT xuhuizhang stabilitysensitivityforacablebasedcoalganguepickingrobotbasedongreyrelationalanalysis
_version_	1718401970809602048

Stability sensitivity for a cable-based coal–gangue picking robot based on grey relational analysis

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