为了实现煤和矸石的自动化和智能化分选，降低煤炭洗选的投资和生产成本，提高煤炭质量，针对国内外目前煤炭分选方式存在的水资源浪费和污染，分拣工作效率较低和运行成本较高等问题，设计了一种煤矸分拣机器人，完成了煤矸分拣机器人的总体方案设计、本体机械结构设计，同时对煤矸分拣机器人进行力学分析、运动学分析和瞬态动力学分析，最后提出了一种多机械臂协同的煤矸分拣方案，主要研究内容如下： （1）分析现有的分拣机器人结构，分拣工作所处的洗煤厂的环境以及分拣目标的物理参数和结构特点，提出煤矸分拣机器人的设计方案，建立了煤矸分拣机器人的三维模型，并对煤矸分拣机器人的各个关节的驱动电机和气缸进行选型。 （2）利用Ansys软件对煤矸分拣机器人结构进行力学分析，对煤矸分拣机器人进行瞬态动力学分析，确保分拣机器人在静态和运动状态下保持足够的机械强度。再通过对机器人底架的模态分析，避免在分拣时产生共振。 （3）通过D-H法建立煤矸分拣机器人运动学模型，描述了机器人各连杆之间的关系，完成了正、逆向运动学求解。在此基础上提出了单臂分拣策略，设计了X轴速度同步规划和X、Y轴联动运动规划方法，提出了一种多臂协同的煤矸分拣策略，并使用ADAMS对单臂分拣策略进行运动仿真，验证运动方案的可行性。 （4）对煤矸分拣机器人进行样机搭建，通过实验对整体方案可行性进行验证。

In order to realize the automation and intelligent sorting of coal and gangue, reduce the investment and production cost of coal washing and improve the quality of coal, aim at the problems of resource waste, environmental pollution, low efficiency and high cost in the current coal, the coal-gangue sorting robot was designed in this paper. The robot body structure was designed, mechanical analysis, kinematics analysis and transient dynamics analysis were proposed, and a multi-mechanical arm collaborative coal-gangue sorting scheme was proposed, the main research content as follows: (1) The existing sorting robot structure, the environment of the coal washing plant where the sorting work is located, and the physical parameters and structural characteristics of the sorting target were analyzed. The design scheme of the coal-gangue sorting robot is proposed, and the coal-gangue sorting robot was established. The three dimensional model of coal and gangue sorting robot was established and the driving motor and cylinder of each joint of the robot were selected. (2) Ansys software was used to conduct mechanical analysis on the structure of coal and gangue sorting robot, and to conduct transient dynamic analysis on the coal and gangue sorting robot, so as to ensure sufficient mechanical strength of the sorting robot in static and moving state. Through the modal analysis of the robot underframe, resonance is avoided during the sorting. (3) Through D-H method, the kinematics model of the coal and gangue sorting robot is established, the relationship between each link of the robot is described, and the forward and reverse kinematics solution is completed. On this basis, the single-arm sorting strategy was proposed, and the X-axis velocity synchronous planning and the X-axis and Y-axis linkage movement planning methods were designed. A multi-arm coordinated coal and gangue sorting strategy was proposed, and the single-arm sorting strategy was simulated by using ADAMS to verify the feasibility of the movement plan. (4) The prototype of the coal-gangue sorting robot was built. The feasibility of the overall scheme was verified through experiments.