掘进机并联工作臂设计与运动学分析

Design and Kinematics Analysis of Roadheader Parallel Working Arm

以掘进机并联工作臂为研究对象,基于机器人拓扑结构设计了一种可以实现一平移两转动三自由度的新型并联机构3-UPU/RPR。对该机构的方位特征集和运动自由度进行综合分析,并运用欧拉旋转平移变换法对其进行位置逆解;结合蒙特卡洛法求出该并联工作臂的工作空间,结果表明该并联工作臂具有对称性、内部无空腔且有较大的工作空间的特点。最后将其运用于悬臂式掘进机,解决了传统悬臂式掘进机悬臂运动结构自由度缺乏和掘进工作整体空间扩展受限的问题,为掘进机工作臂设计提供了理论参考与依据。

Taking the parallel working arm of roadheader as the research object, a new parallel mechanism 3-UPU/RPR, which can realize one translation, two rotations and three degrees of freedom,was designed based on the robot topology. The orientation feature set and motion degree of freedom of the mechanism were analyzed, and the Euler rotation translation transformation method was used to solve the inverse position problem. The working space of the parallel manipulator was obtained by Monte Carlo method. The results show that the parallel manipulator has the characteristics of symmetry,no cavity and large working space. Finally, it is applied to the cantilever roadheader to solve the problems of the lack of freedom of the cantilever structure of the traditional cantilever roadheader and the limitation of the overall space expansion of the tunneling work, which provides a theoretical reference and basis for the design of the working arm of the roadheader.