I have two 20x100x3 NumPy arrays which I want to combine into a 40 x 100 x 3 array, that is, just add more lines to the array. I am confused by which function I want: is it vstack, hstack, column_stack or maybe something else?
Might be worth mentioning that
    np.concatenate((a1, a2, ...), axis=0) 
is the general form and vstack and hstack are specific cases. I find it easiest to just know which dimension I want to stack over and provide that as the argument to np.concatenate.
I believe it's vstack you want
p=array_2
q=array_2
p=numpy.vstack([p,q])
                        One of the best ways of learning is experimenting, but I would say you want np.vstack although there are other ways of doing the same thing:
a = np.ones((20,100,3))
b = np.vstack((a,a)) 
print b.shape # (40,100,3)
or
b = np.concatenate((a,a),axis=0)
EDIT
Just as a note, on my machine for the sized arrays in the OP's question, I find that np.concatenate is about 2x faster than np.vstack
In [172]: a = np.random.normal(size=(20,100,3))
In [173]: c = np.random.normal(size=(20,100,3))
In [174]: %timeit b = np.concatenate((a,c),axis=0)
100000 loops, best of 3: 13.3 us per loop
In [175]: %timeit b = np.vstack((a,c))
10000 loops, best of 3: 26.1 us per loop
                        I tried a little benchmark between r_ and vstack and the result is very interesting:
import numpy as np
NCOLS = 10
NROWS = 2
NMATRICES = 10000
def mergeR(matrices):
    result = np.zeros([0, NCOLS])
    for m in matrices:
        result = np.r_[ result, m]
def mergeVstack(matrices):
    result = np.vstack(matrices)
def main():
    matrices = tuple( np.random.random([NROWS, NCOLS]) for i in xrange(NMATRICES) )
    mergeR(matrices)
    mergeVstack(matrices)
    return 0
if __name__ == '__main__':
    main()
Then I ran profiler:
python -m cProfile -s cumulative np_merge_benchmark.py
and the results:
ncalls  tottime  percall  cumtime  percall filename:lineno(function)
...
     1    0.579    0.579    4.139    4.139 np_merge_benchmark.py:21(mergeR)
...
     1    0.000    0.000    0.054    0.054 np_merge_benchmark.py:27(mergeVstack)
So the vstack way is 77x faster!
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