潜孔钻机工作装置运动学分析与可视化仿真  

Kinematics Analysis and Visual Simulation of Working Device of Down-the-Hole Drill

作　　者：万一品 贾洁[1] 宋绪丁[1] 

机构地区：[1]长安大学道路施工技术与装备教育部重点实验室,陕西西安710064

出　　处：《计算机仿真》2016年第6期377-381,共5页Computer Simulation

基　　金：国家科技支撑计划资助项目(2015BAF07B02);中央高校基本科研业务费专项资金资助项目(2013G3252006)

摘　　要：为获得某型号潜孔钻机工作装置的结构运动特性,采用D-H坐标变化方法对工作装置关节位置进行坐标系标定,得到潜孔钻机钻架定位点的坐标及其运动学方程,通过随机数法对方程进行求解,得到潜孔钻机工作装置运动空间的理论解。基于虚拟样机技术建立了潜孔钻机整机运动学仿真模型,实现了潜孔钻机工作装置的可视化仿真分析,得到钻架定位点的运动轨迹,以及钻孔范围和极限工作空间。虚拟样机仿真结果在运动学方程所得结果范围之内,从而验证了运动方程和运动学仿真模型建立的合理性。采用的分析方法和得到的分析结果为潜孔钻机工作装置动力学分析及结构优化提供参考依据。In order to obtain movement characteristics of working device of a type down - the - hole drill, we used D - H method to establish the coordinate calibration of the joint position of the working device. The coordinate and motion equation of the orientation points about drilling cramp were acquired. The equation was solved with random number method, obtaining the space theoretical solution of the work device of the down - the - hole drill. Based on virtual prototype technology, the kinematics simulation model of the down - the - hole drill was established, the visu- al simulation analysis of working device was implemented, and the trajectory of the drill anchor point, the drilling work scope and the limit size were obtained. The results obtained from the simulation of the virtual prototype are with- in the range of the results of the kinematic equations, which verifies that the kinematics equation and kinematics sim- ulation model are reasonable. The analysis method and analysis results provide a reference for the dynamics analysis and optimization of the down - the - hole drill working device.

关 键 词：潜孔钻机 运动学方程 虚拟样机技术 可视化仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]