Active-passive RRT based multi-arm frame disassembly robot planning for belt conveyors in coal mine

Belt conveyors play a crucial role in coal mining operations, requiring disassembly as mining progresses. To enhance production safety, researchers have developed a novel kinematic-based disassembly planning method for multi-arm frame disassembly robots. This approach begins by utilizing Denavit-Hartenberg (D-H) parameters in the robot's kinematic models and disassembly processes.

An innovative algorithm, Active-Passive Rapidly-Exploring Random Trees (APRRT), has been proposed, incorporating Sobol sequences, node weight strategies, and a dual-tree extension strategy for collaborative planning between two arms. Furthermore, a collision warning system based on multi-geometry envelopes has been introduced to bolster safety measures.

To validate the effectiveness of this method, both simulation and physical experiments were conducted. The results demonstrate that APRRT significantly improves path length by more than 23% and reduces exploration time by over 14% when compared to traditional algorithms. The system's performance remains stable and meets the desired requirements.

This research was funded by the Fundamental Research Funds for the Central Universities (grant number 2025QN1068) and conducted by a team of experts from various departments at the China University of Mining and Technology. The study is published under a Creative Commons Attribution 4.0 International License, allowing for the sharing, adaptation, and distribution of the content while acknowledging the original authors and sources.