隧道凿岩机器人双三角十字铰钻臂的运动控制

THE CONTROL STRATEGY OF THE BOOM OF TUNNEL DRILLING RNBOT

通过研究凿岩机器人双三角十字铰钻臂运动规律,在分析两变幅缸伸缩变化与钻臂摆角与俯仰角的变化之间关系的基础上,得到了钻臂摆角与俯仰角按特定规律运动时钻臂在空间的运动轨迹,同时也得到了两变幅缸的伸长变化轨迹,据此,通过控制两变幅缸按一定规律变化可使钻臂在空间的移动平缓并且使得钻臂的运动控制方便、简单,且易于达到较高的控制精度。

This article has analyzed the kinematics of the double triangle crucifix boom of the tun-nel-drilling robot.The interrelation between the extension of the two amplitude-changing cylinders in the back of the boom and the changes of the boom's angle is analyzed,and then the track of the boom and two cylinder's extension are obtained,Then,by controlling the changing rule of the two ampli-tude-changing cylinders the double triangle boom can get smooth moving track and be easy to con-trol.