凿岩台车三角钻臂运动学研究

Kinematic Study of Triangular Drill Arm in Rock Drilling Trolley

针对凿岩台车中三角钻臂结构控制困难的问题,提出了一种新的解决方法。首先,建立了三角钻臂的三维模型,运用逼近法和代数法对其进行了正逆运动学求解。其次,基于三角钻臂的几何结构,应用机器人坐标系变换方法,确定了目标点位的空间坐标,并以此计算出三角钻臂两支臂油缸伸缩量的精确表达式。最后,通过仿真实验验证了所提方法的有效性。

Aiming at the difficulty in controlling the triangular drill arm structure in drilling rigs,a new solution is proposed.Firstly,a three-dimensional model of the triangular drill arm is established,and forward and inverse kinematics are solved using approximation and algebraic methods.Secondly,based on the geometric structure of the triangular drill arm,the spatial coordinates of the target points are determined by applying the robot coordinate system transformation method,and the precise expressions for the extension and retraction amounts of the two arm cylinders of the triangular drill arm are calculated.Finally,the effectiveness of the proposed method is verified through simulation experiments.