Research on Optimization of Excavation Time for Mining Shovel Based on Polynomial Interpolation
Aiming at the problems of low excavation efficiency and unstable excavation of the traditional mining shovels,the WK series mining shovels were used as the research object,and their excavation trajectory were theoretically calculated,optimized and analyzed in the joint space of the electric shovel,and experimentally verified.Firstly,the D-H method was used to solve the forward and inverse kinematics of the electric shovel and select a reasonable excavation trajectory.Secondly,the segmented polynomial was used to interpolate the trajectory and select a suitable interpolation method for the mining shovel through comparative analysis.Then,the combinatorial optimization algorithm was used in Isight software to optimize the trajectory with the shortest time for the segmented polynomial interpolation function.Finally,the optimized trajectory was experimentally verified by building an experimental prototype platform of electric shovel.The results show that the 4-3-3-3-4 segmented polynomial interpolation method is applicable to the optimal time trajectory planning of electric shovel,and the combinatorial optimization algorithm improves the efficiency and accuracy of the optimization,and the excavation efficiency of the optimized electric shovel can be improved by 18.5％,and the experimental prototype of electric shovel can complete the excavation task well within the optimized shortest time.The study provides a theoretical basis for the improvement of the excavation efficiency of the electric shovel.
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