双臂液压钻车的运动学分析及优化

Kinematics Analysis and Optimization of a Two-arm Hydraulic Drill Manipulator

为了实现双臂钻车的自动化打孔,对其进行运动学分析和优化计算。优化计算的目的是要找到液压钻臂各个关节的合适的角度位置,能够在钻车工作时实现确定的位姿。采用粒子群算法在MATLAB环境下计算并得出最优解,结果证明粒子群算法能有效解决两臂钻车的运动学计算。为了方便操作和审核,建立了用户界面并生成了.exe文件,从而为钻车自动化打孔奠定了技术基础。

In order to realize drilling holes automatically by a two-arm drilling manipulator,its direct kinematics analysis was done. The aim of optimization was to find the right position and orientation of the arm by which they could realize the position and ori-entation of the drill demanded on the drilling work. An optimization program of the PSO algorithm in the MATLAB environment was de-veloped and the optimal calculation was done. The result proves the validity of the PSO based algorithm for the inverse kinematics of the 2-arm drilling manipulator. In order to facilitate the operation and audit,the user interface was set up and. exe files were made,so as to lay foundation for drilling holes automatically.