摘要
为优化煤炭采样工艺,设计了一种6-DOF机械臂。通过正、逆运动学分析采样工艺和机械臂的位姿变化,开发了基于嵌入式ARM9和Win CE的控制系统,利用实时、模块化结构,闭环控制机械臂采煤动作。结果表明:煤炭采样时,各关节和刚体间无错位冲突,对实现煤矿井下有限空间煤炭采样作业有重要的应用价值。
One 6-DOF manipulator has been designed lor optimizing coal sample process.By anatyzing the forward and inverse kinematics of coal sample operation and manipulator position, control system has been developed based on ARM9 and WinCE, and realized the closed-loop control for manipulator position with the use of real-time and modular structure. The simulation has shown that there is no dislocation conflict between joints and rigid, and it has important application value for coal sample process in limited mine space.
出处
《煤炭技术》
北大核心
2017年第9期229-231,共3页
Coal Technology
基金
扬州工业职业技术学院自然科技类2016年培育课题(2016xjzk027)
