基于末端杆件螺旋运动的凿岩机械臂孔序规划

Drilling Sequence Planning Based on Screw Motion of End Lever of a Tunneling Rig Manipulator

根据隧道炮孔设计,进行孔序规划,是对凿岩机械臂进行自动控制所需要解决的一个问题。针对这一问题,以机械臂末端杆件的螺旋运动来定义其运动轨迹,用螺旋运动轨迹的曲线长度来定义机械臂将末端执行器从一个孔位运送到另一个孔位所付出的代价,以此代价为基础建立目标函数,用蚁群算法进行问题求解,得到机械臂运动的孔序规划。利用对偶四元数法推导了机械臂末端杆件螺旋运动参数的计算公式。仿真验证了轨迹求解算法,得到的轨迹平滑、连续;针对某隧道断面64组炮孔设计,利用蚁群算法进行左右两个机械臂的孔序规划仿真,得到了合理的规划结果。

One of the problems in the development of computerized tunneling rig is to make a drill- ing sequence according to a drill pattern design, which is the focus of this work. ACO algorithm was used to get a satisfactory sequence for a drill pattern, where the obiective function was based on the trajectory length of screw motion of the end effector transported from one hole position to the next by the manipulator. The formulas were derived for the calculation of the screw motion parameters of the end effector with dual quaternion expressions. Simulations verify the algorithm of screw motion of the interpolation of the trajectory and the trajectory calculated is smooth and continuous. It turns out to be a practical drilling sequence resulting from the ACO algorithm for a prescribed drill pattern with two manipulators （right and left） of a 64-hole tunneling design.