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

Abstract

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.