论文部分内容阅读
双三角钻臂属于直接定位机构。为了防止干涉并达到直接定位的目的,要求钻臂严格按规划轨迹移位,这就需要对钻臂各液压缸的运行速度进行策划,使其同步、协调、平稳地运行。在分析了双三角钻臂的运动特性的基础上,提出了一种支臂缸运动速度全程策划方法,给出了一个具体的速度策划实例,并按该速度策划方法进行了插补计算,其走步轨迹说明了该速度策划方法的可行性。
Double triangular drilling arm is a direct positioning mechanism. In order to prevent interference and achieve the purpose of direct positioning, the drilling boom is required to be displaced strictly according to the planned trajectory, which requires planning the running speed of each hydraulic cylinder of the boom and synchronizing, coordinating and running steadily. Based on the analysis of the motion characteristics of the double-triangle drilling arm, a method of whole-stroke planning of the moving speed of the arm cylinder is proposed. A concrete example of speed planning is given, and the interpolation calculation is carried out according to the speed planning method. Walking path illustrates the feasibility of the speed planning method.