凿岩机器人钻臂动力学参数分步理论辨识方法  

The Step-by-step Theory Identification Method for Dynamic Parameters of Rock Drilling Robotic Arm

作　　者：黄开启[1] 叶涛 丁问司[2] 陈荣华 HUANG Kaiqi;YE Tao;DING Wensi;CHENG Ronghua(School of Mechanical and ElectricalEngineering,Jiangxi university of Science and Technology,Ganzhou 341000,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]江西理工大学机电工程学,江西赣州341000 [2]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与研究》2018年第4期41-45,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(11272122);广东省部产学研重大资助项目(2012A090300011);江西省科技厅对外合作重点资助项目(20123BBE50085);江西省研究生创新专项资金资助项目(YC2016-S325)

摘　　要：凿岩机器人钻臂具有多冗余自由度耦合关节,且结构尺寸庞大,难以准确获取其动力学参数。为此,提出一种分步理论辨识法辨识钻臂动力学参数。推导出钻臂的牛顿-欧拉方程,并建立其动力学模型,采用5阶傅立叶级数规划钻臂各关节运动的激励轨迹,将钻臂3维Pro/E模型导入ADAMS中,根据各关节在激励轨迹下的驱动力（或力矩）,从推进器关节开始沿机身方向进行递推,对各关节的动力学参数进行分步辨识。仿真结果表明,分步理论辨识法具有较高的辨识精度,提高了钻臂末端（钎头）定位控制的精度和稳定性。Aiming at the problem that it is difficult to accurately obtain the dynamics parameters of rock drilling robotic drilling arm because it is a multi-redundant free degree coupling joint,and its structure size is large,a stepby-step theory identification method is proposed to identify the dynamics parameters of drilling arm in this paper. The dynamic model ofdrilling arm is established based on deducing its Newton-Euler equation. The five order Fourier series is designed as exciting trajectory of the joints movement of drilling arm. The 3 D Pro/E model of the drill arm is introduced into ADAMS. According to the excitation trajectory under the driving force（ or torque）,the dynamics parameters of drilling arm joints are identified by step-by-step from the propeller joints to recursively along the fuselage. The simulation results show that,the identification accuracy is improved compared with the CAD identification method because the step-by-step theory identification method reduced the influence of the driving joint components on the dynamic characteristics of the drilling arm,and the positioning control accuracy and stability of drilling arm end（drill bit） are improved.

关 键 词：凿岩机器人 钻臂 动力学参数 理论辨识法 分步辨识 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]