Xiangyi Cong

Active-passive RRT based multi-arm frame disassembly robot planning for belt conveyors in coal mine

Abstract Belt conveyors are vital in coal mine production and need disassembly per mining progress. To improve production safety, a kinematic-based disassembly planning method for multi-arm frame disassembly robots is proposed. Firstly, D-H parameters are applied to the robot’s k...