In order to realize unmanned operation of bucket wheel stacker and reclaimer

a mathematical model of the bucket wheel stacker and reclaimer was established

and a method for researching the cantilever working space of the bucket wheel stacker and reclaimer was proposed based on robot kinematics. The bucket wheel stacker and reclaimer was identified as a tandem mechanism with 3 degrees of freedom

and the coal yard coordinate system and the coordinate systems of each rotating mechanism were defined. The D-H(Denavit-Hartenberg) model of the bucket wheel stacker and reclaimer was established using the kinematics of the robot. The homogeneous transformation was used to derive the forward and reverse kinematics of the cantilever end of the bucket wheel stacker and reclaimer. The motion space of the cantilever end was simulated using numerical simulation software. The motion trajectory of the cantilever end was designed according to the characteristics of the reclaiming and stacking operations of the bucket wheel stacker and reclaimer

and the correctness of the inverse kinematics of the cantilever end was verified by simulation. During the unmanned transformation of the bucket wheel stacker and reclaimer

the practical application of solving the traveling interval

slewing angle and pitching angle by the set stacking and reclaiming parameters was solved.