Kinematic and workspace analysis of redundant heterogeneous robot for flat slag of high temperature furnace

In China, most of the high temperature coal stove combustion process needs people to rake the coal cinder. In this paper, a heterogeneous redundant robot is designed to rake coal cinder. The system consists of a six-axis robot, a robot's orbit, a rake and a rake's bracket orbit. In order to achieve controllable, safe and efficient work of raking coal cinder in high temperature coal furnace, in this study, the constraint conditions of each limit position are modelled mathematically, and the parameters of the robot system are optimised by an optimal solution of structural parameters under multi-variables and multi-constraints. Finally, the forward kinematics model of the whole heterogeneous redundant robot is established, and the feasibility of the scheme is verified by simulation.