Article(id=1322560036488990829, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322559951067792299, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1743523200000, receivedDateStr=2025-04-02, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1793252484676, onlineDateStr=2026-10-29, pubDate=1777046400000, pubDateStr=2026-04-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793252484676, onlineIssueDateStr=2026-10-29, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793252484676, creator=13701087609, updateTime=1793252484676, updator=13701087609, issue=Issue{id=1322559951067792299, tenantId=1146029695717560320, journalId=1225396423026438145, year='2026', volume='46', issue='4', pageStart='1', pageEnd='294', issueExtLink='null', onlineDate='null', pubDate='1777046400000', pubDateStr='2026-04-25', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793252464310, creator='13701087609', updateTime=1793252763065, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1322561204200001631, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322559951067792299, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1322561204200001632, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322559951067792299, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=196, endPage=203, ext={EN=ArticleExt(id=1322560036841312366, articleId=1322560036488990829, tenantId=1146029695717560320, journalId=1225396423026438145, language=EN, title=Trajectory Planning of a Shotcrete Robot Arm Based on an Improved Whale Optimization Algorithm, columnId=null, journalTitle=Mining Research and Development, columnName=null, runingTitle=null, highlight=null, articleAbstract=

Shotcrete support is widely used in roadway excavation support, with the advantages of low cost and high safety. The robot arm is the core part of the shotcrete robot. In order to improve the design theory, kinematics and trajectory planning analysis were carried out taking a six-degree-of-freedom robot arm as the research object. For the time-optimal trajectory planning of the robot arm, a trajectory planning method based on the improved whale optimization algorithm was proposed. By introducing the Circle chaos mapping, Cauchy perturbation strategy and the pheromone mechanism of the ant colony algorithm, the global search ability of the algorithm was enhanced, which effectively avoided being trapped in the local optimal solution, and significantly accelerated the convergence speed, while improving the efficiency and accuracy of the local search process. The improved whale optimization algorithm enables the robot arm to reach the target posture more quickly, successfully shortening the running time by 56.7%, thereby further verifying the feasibility of the algorithm.

, authors=Zhichao DONG¹, Meng WANG¹, Fa SU¹, Shuai WANG¹, Xianyang JIAO², Mai ZHANG², Jing WANG², authorsList=Zhichao DONG, Meng WANG, Fa SU, Shuai WANG, Xianyang JIAO, Mai ZHANG, Jing WANG, authorCompany=null, correspAuthors=Jing WANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1322560037210411119, articleId=1322560036488990829, tenantId=1146029695717560320, journalId=1225396423026438145, language=CN, title=基于改进鲸鱼优化算法的喷浆机械臂轨迹规划, columnId=1226462295946085268, journalTitle=矿业研究与开发, columnName=矿山机电与矿业智能化, runingTitle=null, highlight=null, articleAbstract=

喷浆支护广泛运用于掘进巷道支所，具有成本低、安全性高等优点。其中机械臂是喷浆机器人的核心部分，为完善设计理论，以一款六自由度喷浆机械臂为对象进行运动学和轨迹规划分析，并针对机械臂时间最优轨迹规划，提出一种基于改进鲸鱼优化算法的轨迹规划方法，通过引入Circle混沌映射、柯西扰动策略和蚁群算法的信息素机制，增强了算法的全局搜索能力，有效避免了陷入局部最优解，并显著加快了收敛速度，同时提高了局部搜索过程的效率和精度。改进鲸鱼优化算法使得机械臂能够更快速地达到目标姿态，运行时间缩短了56.7%，进一步验证了该算法的可行性。

, authors=董志超¹, 王蒙¹, 苏发¹, 王帅¹, 焦显阳², 张迈², 王静², authorsList=董志超, 王蒙, 苏发, 王帅, 焦显阳, 张迈, 王静, authorCompany=null, correspAuthors=王静, authorNote=, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=PmOI/dKlCWkbvK6G/i2EAg==, magXml=yqWRJs1GQb7VpRlaiSmi4g==, pdfUrl=null, pdf=xq2rrvwMiGWcoKGF6tzX1g==, pdfFileSize=2130920, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=b9fufovowG9qd6ZyCuUvZA==, mapNumber=null, fund=null)}, authors=[Author(id=1322560037738893431, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322560036488990829, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=dzc3177@126.com, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1322560037843751033, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322560036488990829, authorId=1322560037738893431, language=EN, stringName=Zhichao DONG, firstName=Zhichao, middleName=null, lastName=DONG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.Shendong Coal Branch of China Shenhua Energy Co., Ltd., Yulin, Shaanxi 719315, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1322560038149935226, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322560036488990829, authorId=1322560037738893431, language=CN, stringName=董志超, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1．中国神华能源股份有限公司神东煤炭分公司，陕西 榆林市　719315, bio={"content":"

董志超（1982—），男，内蒙古赤峰人，工程师，主要从事煤矿机电自动化工作。E-mail:dzc3177@126.com

"}, bioImg=null, bioContent=

董志超（1982—），男，内蒙古赤峰人，工程师，主要从事煤矿机电自动化工作。E-mail:dzc3177@126.com

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