Full
Outline
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.
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| 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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