关键词: 地下铲运机, 减阻, 轨迹, 机械手

Abstract: The robot model system of underground LHD operating device was established and the shoveling track with the least energy was found through the analysis of the acting force and track of the cutting edge of shovel bucket-the end actuator of robot in the shoveling-loading process.However, the moving track of bucket in real conditions is a little different from that of ideal state.A method of intelligent inserting and shoveling with reduced resistance was used in an attempt to optimize the shoveling track based on the track of minimum energy.Through kinematic simulation, the bucket worked following the optimized track, resulting in reduced resistance and system energy consumption and increased production efficiency.Thus, the intelligentized level of pilotless underground LHD was further raised.

Key words: Underground LHD, Resistance reduction, Track, Robot