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

Abstract

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 kinematic models and disassembly process. Secondly, an active-passive extended rapidly-exploring random trees (APRRT) algorithm is proposed, using Sobol sequences, node weight strategies and an active-passive dual tree extension strategy for dual-arm collaborative planning. Additionally, a collision warning method based on multi-geometry envelope is introduced to enhance safety. Simulation and physical experiments verify the method’s feasibility that APRRT reduces path length by over 23% and exploration time by over 14% compared with traditional algorithms, with stable performance meeting expected requirements.