Vertical motion robot in the mining industry

¹ Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, 125993, Russia
² Marine Hydrophysical Institute, Russian Academy of Sciences, 2, Каpitanskaya str., Sevastopol, 299011, Russia
³ Reshetnev Siberian State University of Science and Technology, 31, Krasnoiarskii Rabochii Prospekt, Krasnoyarsk, 660037, Russia
⁴ Expert and Analytical Center, 33, Talalikhina str., Moscow, 109316, Russia
⁵ Institute of Astronomy of the Russian Academy of Sciences, 48, Pyatnitskaya str., Moscow, 119017, Russia
⁶ Joint Stock Company “Special Research of Moscow Power Engineering Institute”, 14 Krasnokazarmennaya str., Moscow, 111250, Russia
⁷ Bauman Moscow State Technical University, 2-ya Baumanskaya st., 5, bld. 1, Moscow, 105005, Russia
⁸ Lavochkin Association, 24 Leningradskaya st., Khimki, Moscow region, 141402, Russia

^* Corresponding author: kartsan2003@mail.ru

Abstract

The main directions in the design and programming of vertical motion robots for the mining industry have certain operational risks that underlie the reasons for the lack of consideration of all possible scenarios. The main problem of vertical motion robots is the identification of specific situations. The problem of identification of specific situations occurring during the operation of a vertical motion robot is considered. Some critical situations are proposed for consideration, the forces acting on the robot nodes are illustrated. A model of the robot in MATLAB Simulink environment is created and programmed in order to study the current indicators in the electric motors of the robot. The submodel of the electric motor, based on the data of the technical data sheet of the existing product, which behaves reliably under the conditions of the simulation, is described. The simulation of one of the critical scenarios is considered, and the motor current indicators are analyzed.