基于运动学的斗轮堆取料机悬臂工作空间研究

Research on cantilever workspace of bucket wheel stacker and reclaimer based on kinematics

为实现斗轮堆取料机无人值守,建立斗轮堆取料机的数学模型,提出了一种基于机器人运动学的斗轮堆取料机悬臂工作空间的研究方法。将斗轮堆取料机认定为一个具有3个自由度的串联机构,定义了煤场坐标系和各转动机构坐标系。利用机器人运动学原理建立了斗轮堆取料机的D-H(Denavit-Hartenberg)模型,利用齐次变换推导斗轮堆取料机悬臂端的运动学正反解,并运用数值仿真软件对悬臂端的运动空间进行仿真研究。根据斗轮堆取料机取料和堆料作业的特点设计了悬臂端的运动轨迹,仿真验证了悬臂端运动学反解的正确性。同时,解决了斗轮堆取料机无人值守改造过程中,由设定的堆取料参数求解走行区间、回转角度和俯仰角度的实际应用问题。

In order to realize unmanned operation of bucket wheel stacker and reclaimer,a mathematical model of the bucket wheel stacker and reclaimer was established,and a method for researching the cantilever working space of the bucket wheel stacker and reclaimer was proposed based on robot kinematics.The bucket wheel stacker and reclaimer was identified as a tandem mechanism with 3 degrees of freedom,and the coal yard coordinate system and the coordinate systems of each rotating mechanism were defined.The D-H(Denavit-Hartenberg)model of the bucket wheel stacker and reclaimer was established using the kinematics of the robot.The homogeneous transformation was used to derive the forward and reverse kinematics of the cantilever end of the bucket wheel stacker and reclaimer.The motion space of the cantilever end was simulated using numerical simulation software.The motion trajectory of the cantilever end was designed according to the characteristics of the reclaiming and stacking operations of the bucket wheel stacker and reclaimer,and the correctness of the inverse kinematics of the cantilever end was verified by simulation.During the unmanned transformation of the bucket wheel stacker and reclaimer,the practical application of solving the traveling interval,slewing angle and pitching angle by the set stacking and reclaiming parameters was solved.