基于D-H法的隧道锚杆安装机械手机构设计  

Mechanism Design of Tunnel Bolt Installation Manipulator Using D-H Method

作　　者：周远航 刘瑞庆 李剑雄 李大伟 刘伟涛 ZHOU Yuanhang;LIU Ruiqing;LI Jianxiong;LI Dawei;LIU Weitao(Special Equipment Center of China Railway Tunnel Group Co.,Ltd.,Luoyang 471009,Henan,China)

机构地区：[1]中铁隧道局集团有限公司专用设备中心,河南洛阳471009

出　　处：《隧道建设（中英文）》2018年第A01期188-193,共6页Tunnel Construction

摘　　要：为解决隧道锚杆安装过程中效率低、阻力大、不易完全装入等问题,采用D-H法建立锚杆安装机械手坐标系。通过对机械手结构的齐次坐标变换建立机械手运动学方程,并结合工程施工参数,得出推进机构运动与机械手爪运动之间的关系,理论计算出锚杆安装机械手相关设计参数,从而设计一种新型的隧道锚杆安装机械手。该机械手安装速度为38.9 mm/s,与传统钻杆推进安装方式相比,单循环节约工时约2 h,经济优势突出。In order to solve the problems of low efficiency, large resistance, and not easily to be fully loaded, etc., during tunnel bolt installation, coordinate system of bolt installation manipulator is established with D-H method. With homogeneous coordinates of manipulator structure transforming to establish manipulator kinematics equation, and combining practical construction parameters, the relationship between pushing mechanism and mechanical paw movement is learned; design parameters of bolt installation manipulator are acquired theoretically; and thus a new bolt installation manipulator is designed. With an installation speed of 38.9 ram/s, the new bolt installation manipulator saves 2 h every link compared with traditional bolt installation, which brings about great economic advantages.

关 键 词：机械手 机构 D-H法 雅克比矩 隧道锚杆安装 

分 类 号：U455.3[建筑科学—桥梁与隧道工程]