锚杆钻车三角钻臂的运动学研究
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摘要
针对锚杆钻车三角钻臂运动控制问题,首先根据锚杆钻车三角钻臂的实际结构建立其简化模型,运用两步法和代数法对其进行正逆运动学求解;然后利用在两支臂缸处建立坐标系的方法求出所需点的空间坐标,以此计算出两支臂油缸伸缩量的精确算式,并提出了验证方法。最后通过SolidWorks和MATLAB软件对三角钻臂正逆运动学及支臂缸伸缩量公式进行了验证,确保了计算过程的准确性。
Aiming at the motion control problem of triangular drill arm of bolt drilling rig,firstly,according to the actual structure of the triangular drill arm of the bolt drilling rig,the simplified model was established,and the forward and inverse kinematics of the triangular drill arm was solved by twostep method and algebraic method. Then,by using the method of establishing the coordinate system at the two arm cylinders,the space coordinates of the required points were obtained,and the exact formula of the telescopic quantity of the two arm cylinders was calculated,and the verification method was proposed.Finally,SolidWorks and MATLAB were used to verify the forward and inverse kinematics of the triangular drill arm and the expansion formula of the arm cylinder to ensure the accuracy of the calculation process.
Aiming at the motion control problem of triangular drill arm of bolt drilling rig,firstly,according to the actual structure of the triangular drill arm of the bolt drilling rig,the simplified model was established,and the forward and inverse kinematics of the triangular drill arm was solved by twostep method and algebraic method. Then,by using the method of establishing the coordinate system at the two arm cylinders,the space coordinates of the required points were obtained,and the exact formula of the telescopic quantity of the two arm cylinders was calculated,and the verification method was proposed.Finally,SolidWorks and MATLAB were used to verify the forward and inverse kinematics of the triangular drill arm and the expansion formula of the arm cylinder to ensure the accuracy of the calculation process.
引文
[1]王文坛.机械臂轨迹规划及动力学研究[D].济南:山东大学, 2017.
[2]胡家盈.隧道凿岩机器人钻臂关键技术研究[D].成都:西南交通大学, 2016.
[3]籍海清.凿岩台车钻臂动力学分析及仿真[D].石家庄:石家庄铁道大学, 2014.
[4]王宪伦,喻洋,王道全,等.凿岩机器人的建模与运动学分析[J].矿山机械, 2016,44(1):90-93.
[5]何清华,王恒升,邓春萍.双三角钻臂的定位控制及仿真[J].中南大学学报(自然科学版), 2006, 37(4):748-752.
[6]毛君,孟辉,陈洪月,等.掘进机机载锚杆钻机运动学分析与轨迹仿真[J].机械设计, 2016,33(4):42-47.
[2]胡家盈.隧道凿岩机器人钻臂关键技术研究[D].成都:西南交通大学, 2016.
[3]籍海清.凿岩台车钻臂动力学分析及仿真[D].石家庄:石家庄铁道大学, 2014.
[4]王宪伦,喻洋,王道全,等.凿岩机器人的建模与运动学分析[J].矿山机械, 2016,44(1):90-93.
[5]何清华,王恒升,邓春萍.双三角钻臂的定位控制及仿真[J].中南大学学报(自然科学版), 2006, 37(4):748-752.
[6]毛君,孟辉,陈洪月,等.掘进机机载锚杆钻机运动学分析与轨迹仿真[J].机械设计, 2016,33(4):42-47.