三臂凿岩台车钎杆的绝对定位误差补偿研究  

Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo

作　　者：夏毅敏[1,2] 李正光 罗建利 马劼嵩 Xia Yimin;Li Zhengguang;Luo Jianli;Ma Jiesong(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410083,China;China Railway Construction Heavy Industry Co.,Ltd.,Changsha 410083,China)

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [3]中国铁建重工集团有限公司,湖南长沙410083

出　　处：《机械传动》2018年第10期1-5,11,共6页Journal of Mechanical Transmission

基　　金：国家高技术研究发展计划(863计划)(2012AA041803);中央高校基本科研业务费专项资金资助(2017zzts400)

摘　　要：为提高三臂凿岩台车钎杆的绝对定位精度,首先,基于有限元仿真,采用正交试验法确定影响臂架柔性误差的主要参数,得到柔性误差补偿公式;之后,对受力关节坐标系进行变换,建立基于位置误差的运动学误差标定模型,并对模型中待标定参数进行冗余性分析,剔除冗余参数;最后,以激光全站仪为测量设备,利用LM算法对待标定参数进行求解,验证运动学标定效果。结果表明,该方法有效地补偿了钎杆绝对定位误差,钎杆的绝对定位误差降低了79. 6%。In order to improve the absolute positioning accuracy for the drill rod of the three-arm rock-drilling jumbo,firstly,based on the finite element simulation,the main parameters that affect the flexible error of the arm are determined by the orthogonal test method,and the flexible error compensation formula is obtained.Then,after the transformation of the force joint coordinate system,the calibration model is set up based on the kinematics position error,and the redundant parameters are eliminated in the model by redundancy analysis.Finally,the laser total station is used as the measuring device,and the LM algorithm is used to solve the calibration parameters to verify the kinematics calibration effect.The results show that the method effectively compensates the absolute positioning error of the drill rod,the absolute positioning error of the drill rod is reduced by 79.6%.

关 键 词：三臂凿岩台车 运动学标定 正交试验 柔性补偿 

分 类 号：U455.32[建筑科学—桥梁与隧道工程]