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介绍了在凿岩机器人钻臂定位液压控制系统中采用PCM伺服控制而进行的可行性研究、相应的控制系统的设计以及计算机仿真和实验。实验结果显示,该系统重复精度<0.1mm,能满足凿岩机器人的钻臂定位精度和深孔凿岩工艺要求。
The feasibility of adopting PCM servo control in hydraulic control system of drill arm positioning of rock drilling robot is introduced. The corresponding control system design, computer simulation and experiment are introduced. Experimental results show that the repeatability of the system is less than 0.1mm, which can meet the drilling arm positioning accuracy and deep hole drilling technology requirement of rock drilling robots.