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.
The PV/T-GSHP heating control system is proposed to address the energy consumption problem of building heating in northern China. By using TRNSYS to establish an automatic control model, the control of the heat pump start/stop, water supply temperature on the load side of the tank, and high temperature water return to the building can achieve the purpose of being energy saving, providing stable heating, and providing control of high temperature heating. The results show that the PV/T-GSHP control system has an annual fluctuation range of 0.01~0.17 kW in the heating period for a typical building heat supply and building heat load, and the system energy efficiency and energy consumption are increased by 14.5% and 33.91%, respectively, compared with the GSHP system, and the annual value of cost is reduced by 8.49% and 19.09% compared with the GSHP and traditional coal-fired boiler system, which shows that the PV/T-GSHP control system is more economical. It can be seen that the PV/T-GSHP control system has better heating stability, energy efficiency, and economy, and it provides theoretical significance for the current clean heating automatic control scheme in Chinese northern areas.
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