基于并联机器人的掘进机位姿算法研究

Research on Pose Algorithm of Tunneling Machine Based on Parallel Robots

针对掘进机推进系统的运动学建模及位姿正解求解难题,采用简化等效模型法进行建模,该简化模型能够显著降低运动学建模的复杂性,并通过并联机器人模型算法进行位姿解算。主要研究了一种基于八字形油缸设计的并联机器人掘进机位姿算法,并联机器人模型算法则提高了位姿求解的精度,该算法模型通过油缸的并联驱动,实现了对设备位姿的精确控制,从而提高了隧道掘进的效率和精度。研究结果表明,本文提出的掘进机并联机器人算法,可实现掘进机的导向定位工作,为施工过程中保证施工精度和安全以及设备纠偏提供了依据。

This article addresses the challenges of kinematic modeling and pose forward solution for the propulsion system of tunneling machines.The simplified equivalent model method is used for modeling,which can significantly reduce the complexity of kinematic modeling.The parallel robot model algorithm is used for pose solution.This article mainly studied a pose algorithm for a parallel robot tunneling machine based on an octagonal oil cylinder design.The parallel robot model algorithm improved the accuracy of pose solving.The algorithm model achieved precise control of equipment pose through the parallel drive of oil cylinders,thereby improving the efficiency and accuracy of tunnel excavation.The research results indicate that the parallel robot algorithm proposed in this paper can achieve the guidance and positioning work of the tunneling machine,providing a basis for ensuring construction accuracy and safety as well as equipment correction during the construction process.