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为分析CMJ2-27改进型双臂掘进钻车的作业能力,文中通过对钻车进行运动学分析,基于D-H法建立运动学方程,推导出运动学正解表达式。利用蒙特卡洛法对钻车进行空间分析,得到单臂作业和双臂协同作业的工作空间,并得出了实际工作时钻车到断面的最佳距离为1 010 mm,对钻车放置在理想位姿的钻臂限定钻臂垂直与作业面,得到了钻车实际工作时的作业点。分析结果表明:双臂协同作业时有较大的工作空间,且实际工作范围都在可达点工作空间内。
In order to analyze the operational capability of CMJ2-27 improved two-arm boring drill, kinematics equations of the drilling rig are established based on the kinematics analysis of the drilling rig, and the kinematic positive solution expression is derived based on the D-H method. The Monte Carlo method was used to analyze the drilling rigs. The working space of one-arm and two-arm collaborative work was obtained, and the optimal distance between the rig and the cross section was found to be 1 010 mm. The ideal pose of the drill arm to define the vertical and working face drill arm, get the actual working hours of the drill point. The analysis results show that there is a large working space when the two arms work together, and the actual working range is within the reachable working space.