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

Abstract Belt conveyors are vital in coal mine production and need disassembly per mining progress. To improve production safety, a kinematic-based disassembly planning method for multi-arm frame disassembly robots is proposed. Firstly, D-H parameters are applied to the robot’s kinematic models and disassembly process. Secondly, an active-passive extended rapidly-exploring random trees (APRRT) algorithm is proposed, using Sobol sequences, node weight strategies and an active-passive dual tree extension strategy for dual-arm collaborative planning. Additionally, a collision warning method based on multi-geometry envelope is introduced to enhance safety. Simulation and physical experiments verify the method’s feasibility that APRRT reduces path length by over 23% and exploration time by over 14% compared with traditional algorithms, with stable performance meeting expected requirements.