一种三臂凿岩台车孔序规划  

Bore sequence planning of a three-arm rock-drilling rig

作　　者：吴万荣[1] 殷建坤[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《合肥工业大学学报（自然科学版）》2013年第2期149-151,207,共4页Journal of Hefei University of Technology：Natural Science

摘　　要：文章通过分析单臂工作空间和三臂合作工作空间,综合考虑到钻臂之间存在的可能干涉,将三臂凿岩台车划分为3个独立工作区域和2个协作工作区域,使凿岩台车孔序规划问题简化为3-TSP问题,建立各工作孔位间钻架的移动距离总和最小的优化函数,再运用自适应遗传算法求解TSP问题,得到3个钻臂孔序规划的Hamilton回路,从而实现三臂凿岩台车孔序规划。Through the analysis of single-arm space and three-arm cooperative workspace, taking into account the possibility of interference between booms, the working space of the three-arm rock-drilb ing rig is divided into three separate work areas and two collaborative work areas, and the bore se： quence planning problem is simplified to three-traveling salesman problem（TSP）. The optimization function with minimum sum of drilling frame moving distance between work bores is established, then the TSP is solved by using self-adaptive genetic algorithm. Three Hamilton circuits of bore sequence planning of the boom are gotten,thus achieving the bore sequence planning of three-arm rock-drilling rig

关 键 词：三臂凿岩台车 孔序规划 优化函数 旅行商问题(TSP) 遗传算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]