Article(id=1282030072391512983, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1282030021623657005, articleNumber=null, orderNo=null, doi=10.16265/j.cnki.issn1003-3033.2025.08.1517, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1743436800000, receivedDateStr=2025-04-01, revisedDate=1750176000000, revisedDateStr=2025-06-18, acceptedDate=null, acceptedDateStr=null, onlineDate=1783589388225, onlineDateStr=2026-07-09, pubDate=1756310400000, pubDateStr=2025-08-28, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1783589388225, onlineIssueDateStr=2026-07-09, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1783589388225, creator=13701087609, updateTime=1783589388225, updator=13701087609, issue=Issue{id=1282030021623657005, tenantId=1146029695717560320, journalId=1146031787341344770, year='2025', volume='35', issue='8', pageStart='1', pageEnd='276', issueExtLink='null', onlineDate='null', pubDate='1756310400000', pubDateStr='2025-08-28', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1783589376121, creator='13701087609', updateTime=1783589731222, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1282031511155228698, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1282030021623657005, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1282031511155228699, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1282030021623657005, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=171, endPage=179, ext={EN=ArticleExt(id=1282030072588645272, articleId=1282030072391512983, tenantId=1146029695717560320, journalId=1146031787341344770, language=EN, title=Trajectory planning for robotic arm transfer of pulverized coal material in coal dust environment based on SEKOA, columnId=1149733269173878863, journalTitle=China Safety Science Journal, columnName=Safety engineering technology, runingTitle=null, highlight=null, articleAbstract=

In order to address potential safety hazards of dust explosions caused by the dispersion of combustible dust during the intelligent transfer of medium and heavy flammable materials (such as coal) in mines, triggered by the movement of robotic arms and materials, this study takes 6-axis industrial mechanical arm as the subject. Referencing the technical parameters of the arm's joint motion and the wind speed threshold for coal dust dispersion as motion constraints, the "4-5-4-4-5-4" polynomial pose interpolation method and the proposed SEKOA were employed as the motion trajectory planning model for the robotic arm. This model analyzed the nonlinear combinatorial engineering optimization problem for achieving safe and efficient operation of the robotic arm. Under the established motion constraints, the SEKOA algorithm demonstrates higher efficiency compared to other algorithms in safely transferring coal powder materials, achieving the fastest time of approximately 9.5 seconds. The material movement is stable, with no tilting or collision. The motion trajectory planned by the "4-5-4-4-5-4" polynomial interpolation method is smooth and continuous. During the material lowering phase, the peak velocities of the main drive joints 1 and 2 are approximately 0.72 rad/s and 0.47 rad/s, respectively, with peak accelerations around 0.5 rad/s². After decelerating for about 2.5 seconds to 0 rad/s, the robotic arm can gently place the material at the designated position. This approach effectively prevents secondary dispersion of coal dust on the sealing container.

, authors=Xiangjie DONG¹, Yan SHI^{**, 1, 2}, Chunsong LIN¹, Yi LUO¹, Peihua LI³, Xiaoye SHUI³, authorsList=Xiangjie DONG, Yan SHI, Chunsong LIN, Yi LUO, Peihua LI, Xiaoye SHUI, authorCompany=null, correspAuthors=Yan SHI, 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=1282030073050018715, articleId=1282030072391512983, tenantId=1146029695717560320, journalId=1146031787341344770, language=CN, title=基于SEKOA的煤尘环境下机械臂转运煤粉物料轨迹规划, columnId=1149733269727526997, journalTitle=中国安全科学学报, columnName=安全工程技术, runingTitle=null, highlight=null, articleAbstract=

针对煤矿等中、重型易燃物料在智能转运过程中因机械臂、物料运动引起易燃粉尘扬散导致粉尘爆炸的潜在安全问题，以6轴工业机械臂为对象，以该机械臂关节运动的技术参数与煤尘扬散的风速阈值作为运动约束条件，将“4-5-4-4-5-4”多项式位姿插值法与提出的螺旋探索开普勒优化算法（SEKOA）作为该机械臂的运动轨迹规划模型，分析机械臂安全、高效作业的非线性组合工程优化问题。结果表明：在设置的运动约束条件下，相较于其他算法，SEKOA的机械臂安全转运煤粉物料效率更高，最快为9.5 s，且物料运动姿态平稳无倾斜碰撞；“4-5-4-4-5-4”多项式插值法规划的机械臂运动轨迹平滑、连续，物料下放阶段的主驱动关节1、2速度峰值分别为0.72、0.47 rad/s，加速度峰值为0.5 rad/s²，经历约2.5 s减速到0 rad/s，机械臂可平缓将物料放到指定位置，可防范封装箱上的煤尘二次扬散。

, authors=董祥杰¹, 石艳教授^{**, 1, 2}, 林椿松¹, 罗毅¹, 李培华高级工程师³, 税小叶³, authorsList=董祥杰, 石艳教授, 林椿松, 罗毅, 李培华高级工程师, 税小叶, authorCompany=null, correspAuthors=石艳教授, authorNote=, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=oIKu2qFD+R6E8lpfym5IBw==, magXml=kUNCaYpg6lvGZ4AjsfLZUA==, pdfUrl=null, pdf=KfqxcdxHdUlEmyMAFtMofg==, pdfFileSize=6527530, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=O+5Ndoenk0xbzopKy3n1Fw==, mapNumber=null, fund=null)}, authors=[Author(id=1282030073591083942, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1282030072391512983, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=2931341074@qq.com, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1282030073670775720, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1282030072391512983, authorId=1282030073591083942, language=EN, stringName=Xiangjie DONG, firstName=Xiangjie, middleName=null, lastName=DONG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=¹School of Mechanical Engineering, Sichuan University of Science & Engineering, Yibin Sichuan 644000, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1282030073737884585, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1282030072391512983, authorId=1282030073591083942, language=CN, stringName=董祥杰, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=¹四川轻化工大学 机械工程学院，四川 宜宾 644000, bio={"content":"

董祥杰（2000—），男，四川成都人，硕士研究生，研究方向为机器人安全运动控制。E-mail:2931341074@qq.com。

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董祥杰（2000—），男，四川成都人，硕士研究生，研究方向为机器人安全运动控制。E-mail:2931341074@qq.com。

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