Coal gangue separation is of key important for green mining. Robotic separation of coal and gangue based on the machine vision system, which is called a coal gangue picking robot with a gangue grab driven by four cables, is developed in this study. Here, this paper focuses on the equivalent position workspace, within which a coal gangue picking robot possesses the identical stability, to find out any more information about the structural stability for a coal gangue picking robot. First, the kinematic and kinetostatic models of the coal gangue picking robot are presented for analyzing the effects of it on the structural stability for the coal gangue picking robot. And moreover, a non-iterative polynomial-based optimization algorithm with the proper optimal objective function is presented based on the convex optimization theory, in which the cable with the minimum cable tension at any pose is determined. Then, three position performance indices are proposed to show the important effects on the structural stability for the coal gangue picking robot in a specified region of the workspace. Besides, a new workspace, the Equivalent Position Workspace (EPW), is introduced. Finally, the theoretical relationship between the two performance indices and the stability is corrected based on simulation results. The research has important guiding significance and practical value for coal gangue robotic separation.
In the traditional semi-automatic winding machine winding process, the tension of the enameled copper wire changes greatly, and the cable is inaccurate, and cannot be separated from the manual machine. The emergence of automatic winding machine realizes the automation of winding production, reduces the labor intensity of winding, and greatly improves production efficiency. In order to improve the winding quality of the rectangular coil of the motor, a motor winding automatic winding machine is designed. The kinematics and dynamics analysis of the winding process of the winding machine were carried out. The kinematics of the enamelled copper wire and the working principle of the governing mechanism were studied. The kinematics mathematical model of the enamelled copper wire was simulated. The results show that the designed motor coil automatic winding machine has accurate cable routing and smooth winding process.
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