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Structure and Motion Planning of Tunnel Pipeline Installation Robot
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Ming-hang SUI1, 2, Yan-jie LI1, *, Zhi-ming LANG2, 3, Chun-guang BU2, 3, Zhao-jun JI1
Science Technology and Engineering | 2025, 25(8) : 3288 - 3295
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Science Technology and Engineering | 2025, 25(8): 3288-3295
• Automation and Computational Technology •
Structure and Motion Planning of Tunnel Pipeline Installation Robot
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Ming-hang SUI1, 2, Yan-jie LI1, *, Zhi-ming LANG2, 3, Chun-guang BU2, 3, Zhao-jun JI1
Affiliations
  • 1 School of Mechanical Engineering School of Mechanical Engineering, Shenyang Ligong University Shenyang 110159 China
  • 2 State Key Laboratory of Robotics State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang 110016 China
  • 3 Innovation Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang 110169 China
Published: 2025-03-18 doi: 10.12404/j.issn.1671-1815.2402052
Outline
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Given the practical application background of installing underground pipelines in coal mine tunnels and the actual environmental conditions underground, a jointed tunnel pipeline installation robot was designed. The detailed design of the robotic arm structure was completed, along with its 3D modeling. The kinematic model of the robot was established, and MATLAB was employed to verify the forward and inverse kinematics of the robotic arm. Based on the established kinematic model, a trajectory planning algorithm for the Cartesian space of the robotic arm was designed, and MATLAB and ADAMS software were used to verify the robotic arm through simulation experiments. The simulation demonstrates that the structural design of the robotic arm is reasonable, and the trajectory planning scheme for the robotic arm is feasible.

structure design  /  motion planning  /  MATLAB  /  kinematics simulation
隋明航, 李艳杰, 郎智明, 卜春光, 纪兆俊. 巷道管道安装机器人结构设计与分析. 科学技术与工程, 2025 , 25 (8) : 3288 -3295 . DOI: 10.12404/j.issn.1671-1815.2402052
Ming-hang SUI, Yan-jie LI, Zhi-ming LANG, Chun-guang BU, Zhao-jun JI. Structure and Motion Planning of Tunnel Pipeline Installation Robot[J]. Science Technology and Engineering, 2025 , 25 (8) : 3288 -3295 . DOI: 10.12404/j.issn.1671-1815.2402052
Appendix
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Year 2025 volume 25 Issue 8
974
446
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Article Info
doi: 10.12404/j.issn.1671-1815.2402052
  • Receive Date：2024-03-22
  • Online Date：2025-07-29
  • Published：2025-03-18
Article Data
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History
  • Received：2024-03-22
  • Revised：2024-12-17
Funding
Affiliations
    1 School of Mechanical Engineering School of Mechanical Engineering, Shenyang Ligong University Shenyang 110159 China
    2 State Key Laboratory of Robotics State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang 110016 China
    3 Innovation Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang 110169 China
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Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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