Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot

<table class="fixed-width table-group" id="tab3"><tr><td><table class="table"><colgroup><col style="width:2.71em"/><col style="width:9.11em"/><col style="width:9.00em"/><col style="width:5.14em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">No.</td><td class="align_center">Theoretical time (s)</td><td class="align_center">Simulation time (s)</td><td class="align_center">Error (%)</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left"><span style="width: 11.3878ptpx;"><svg height="9.39034pt" id="M368" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 11.3878 9.39034" width="11.3878pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g></svg></span></td><td class="align_center">290</td><td class="align_center">292.345</td><td class="align_center">0.8</td></tr><tr><td class="align_left"><span style="width: 11.3878ptpx;"><svg height="9.39034pt" id="M369" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 11.3878 9.39034" width="11.3878pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg></span></td><td class="align_center">145</td><td class="align_center">148.165</td><td class="align_center">2.1</td></tr><tr><td class="align_left"><span style="width: 11.3878ptpx;"><svg height="9.39034pt" id="M370" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 11.3878 9.39034" width="11.3878pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z" id="g50-52"></path></g></svg></span></td><td class="align_center">96.667</td><td class="align_center">99.020</td><td class="align_center">2.4</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison between dumping theoretical time and simulation time.</div>

Mathematical Problems in Engineering

tab3

Table 3

Table 3: Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot 