全液压履带式锚杆钻机变幅机构运动学分析与研究  

Kinematics Analysis and Research of Hydraulic Roofbolter Luffing Mechanism

作　　者：文国臣[1] 赵宏强[1,2] 肖华[1] 强维博[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,长沙410083 [2]山河智能装备股份有限公司,长沙410100

出　　处：《武汉理工大学学报》2012年第10期132-136,共5页Journal of Wuhan University of Technology

基　　金：国家科技支撑计划(2011BAF048B01)

摘　　要：针对某型号全液压履带式锚杆钻机对变幅机构进行介绍,并运用经典D-H法建立其相关坐标系,应用齐次坐标变换得到运动学方程,验证其正确性后,采用Matlab进行可达工作空间和有效工作空间的求解,得到了变幅机构工作范围的三维视图,并比较分析了两组空间视图。系统地提出了钻机常用变幅机构的运动学分析和研究方法,对现场施工和进一步的理论研究都具有指导性意义。Hydraulic roofbolters are widely used in modern projects.While luffing mechanism is the main part which makes drill boom and bolter to the exact place.Its introduction is made in this paper basing on a kind of hydraulic roofbolter.Using way of D-H,the coordination of it is created.Through homogeneous transformation its kinematics equations are gained.After checked,reachable workspace and effective workspace are calculated by Matlab.Then 3-D views are got.The differences of two group views are compared.Aiming at ordinary luffing mechanism,the way of kinematics analysis and research is systematically advanced,which is meaningful to guide locale constructing and later research.

关 键 词：锚杆钻机 变幅机构 运动学 方程 工作空间 

分 类 号：U455[建筑科学—桥梁与隧道工程]