Kinematics theory of six⁃axis robot and its application in digging and anchoring operation

With the rapid development of intelligent mechanized coal mining face，some higher requirements are needed for the relatively backward intelligent heading technology. However，due to the special conditions such as nar⁃ row space，complex technology and high risk of roof falling，the traditional roadheader and bolt machine are highly de⁃ pendent on the operators and cannot realize the unmanned heading operation. In the process of excavation and bolting，the traditional two⁃axis operation mode cannot meet the needs of rapid excavation in terms of flexibility and in⁃ telligence. Based on the theory of inverse kinematics，the integrated operation of excavation and bolting is systematically investigated in this study. Firstly，in the aspect of driving anchor integration operation，an overall structure of driving anchor robot based on the EBZ230 cantilever roadheader is proposed，which is coordinated by anchor drilling platform and small arm robot，to replace manual operation，and realize the integration of driving and anchoring operation. Sec⁃ ondly，through the constraint of anchor drilling platform at the end position of small arm robot，the operating small arm robot is constructed based on the inverse kinematics equation，and a method is proposed to avoid the obstacles in the space while accurately achieving the end pose required by drilling. The collision free motion path of each joint in the space is generated to verify the accuracy of the end pose and the accuracy of repeated positioning. Finally，in the as⁃ pect of robot crowd cooperative operation，the space position relationship of the recovery and extension posture of the small arm robot is given. The operation range of each joint，the cooperative control strategy of the group and the overall layout of the anchor digging robot are provided. Also，the feasibility of the cooperative operation of each process and the integrated design of the anchor digging is verified. Compared with the traditional excavation and anchor protec⁃ tion single equipment， the excavation and anchor integration robot has the characteristics of high degree of automation，high operation precision and strong adaptability，which is an important development direction of unmanned excavation.