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针对矿井下硬岩钻孔爆破工程,将凿岩机器人钻臂转化成多关节机器人系统。根据D-H模型及几何分析法完成了钻臂的正逆运动学求解,并采用曲线拟合算法,通过构建钻臂后两液压缸与钻臂之间的几何模型,得到了钻臂的俯仰角和偏转角的计算公式;在此基础上,采用运动学算法对矿车在巷道中的停偏问题进行了纠偏。验证结果表明,所提算法误差在允许范围内,这为凿岩机器人下一步的控制设计打下了基础,在对矿洞开采的自动化、智能化的应用上具有现实意义。
For the hard rock drilling and blasting project in the mine, the drilling robot arm is transformed into a multi-joint robot system. According to the DH model and the geometric analysis method, the forward and reverse kinematics solutions of the boom are completed, and the curve fitting algorithm is used. By constructing the geometric model between the two cylinders and the boom, the pitch angle and Deflection angle calculation formula; On this basis, kinematics algorithm is used to correct the deviation problem of the mine car in the roadway. The verification results show that the error of the proposed algorithm is within the allowable range, which lays the foundation for the next control design of rock drilling robot and has practical significance in the automatic and intelligent application of mining.