Advances and critical technologies of hydraulic robotic arms in coal industry applications
ZHOU Jie
Abstract：Coal mine intellectualization constitutes an inevitable pathway for high-quality development in the coal industry.The research and application of mining robots are driving coal mine intellectualization to advanced levels,with hydraulic robotic arms-as critical com-ponents of mining robotics-demonstrating significant potential for widespread implementation and broad industrial application scenarios.This study establishes a comprehensive technological framework for hydraulic robotic arm systems,detailing their hardware configura-tions and software architectures.It systematically elaborates their diversified applications across various scenarios in intelligent coal mine construction,including comprehensive practical deployments in roadway excavation-anchoring,shotcrete,pipe-handling,and rescue.The paper scientifically elucidates common core technologies underpinning hydraulic robotic arm development,providing in-depth analysis of critical research advancements in structural optimization,high-precision hydraulic servo-control systems,as well as kinematic and dynam-ic modeling algorithms.Current challenges are specifically identified,including restricted environmental perception capabilities,diffi-culties in precision control implementation,and reliability compliance issues under harsh operating conditions.Future research directions are proposed:Developing multimodal sensing systems integrating digital twin and edge computing technologies to enhance environmental adaptability and control accuracy in high-dust and humid underground environments;Implementing coordinated control between robotic arms and mobile platforms to achieve dynamic optimization of"mobility+manipulation",thereby expanding operational ranges;Adopt-ing standardized interfaces to enable rapid functional switching,improving operational adaptability while reducing maintenance require-ments.With deepening integration of artificial intelligence technologies,coal mine hydraulic robotic arms are predicted to evolve towards enhanced intelligence and operational safety,ultimately providing more efficient equipment support for underground operations.
Keywords：hydraulic manipulatorintelligent coal miningintelligent sensingdynamic analysispath planningcoordinated control
Publication Date：2025-09-30
Online Publishing Date：2025-10-22(First online date of this platform, not the publication date of the document)
Pages：21( 20-40 )