机器人化钻锚车钻臂工作空间分析及轨迹规划  

Workspace analysis and trajectory planning of drill arm of roboticized bolting truck

作　　者：郝雪弟[1] 景新平 张中平 谢勇厚 张境麟 刘冰[1] 梁泽楠 吴淼[1] HAO Xuedi;JING Xinping;ZHANG Zhongping;XIE Yonghou;ZHANG Jinglin;LIU Bing;LIANG Zenan;WU Miao(School of Mechanical Electronic&Information Engineering,China University of Mining&Technology(Beijing),Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院

出　　处：《中南大学学报（自然科学版）》2019年第9期2128-2137,共10页Journal of Central South University:Science and Technology

基　　金：国家重点基础研究发展计划(973计划)项目(2014CB046306)~~

摘　　要：针对深部危险煤层综掘工作面事故率高、效率低的工程难题以及锚杆支护自动化、智能化需求,提出一种与智能掘支锚联合机组配套的机器人化钻锚车,并对其进行工作空间分析和轨迹规划。首先,基于D-H法建立钻锚车顶板和侧帮钻臂结构的运动学模型,基于蒙特卡洛伪随机数方法对4个钻臂进行工作空间分析;其次,针对左右钻臂协同分工作业、变位过程中避障的需求,编排顶板和侧帮钻臂的关节运动谱,基于五项式插值法得到各关节随时间的运动轨迹方程,并结合运动学模型解算各钻机末端的运动轨迹。研究结果表明:机器人化钻锚车工作空间能满足长×宽为5 500 mm×3 600 mm的试验巷道的支护要求;钻机末端轨迹到临时支护支架最小距离为100 mm,顶板钻臂和侧帮钻臂变位过程中均不会与支架发生干涉。To solve the engineering problems of high accident rate and low efficiency of fully mechanized excavation face in deep dangerous coal seam and the need of automation and intellectualization of bolt support,a kind of roboticized bolting truck matched with excavating-supporting-bolting machinery unit was proposed,and its workspace analysis and trajectory planning were carried out.Firstly,the kinematics models of roboticized bolting truck's roof and side arms structure were established by D-H method,and the workspace of roboticized the four drill arms of the bolting truck was analyzed based on Monte Carlo pseudo-random number method;Secondly,to meet the demand of obstacle avoidance in the process of cooperative division of the left and right drill arm and displacement,the joint motion spectra of the roof and side arms were compiled,and the motion trajectory equation of each joint with time was obtained by using the five-term interpolation method,and the motion trajectory of the end of each drill rig was solved.The results show that roboticized workspace of the bolting truck can meet the support requirements of the test roadway for 5 500 mm×3 600 mm specification.The minimum distance from the end of the rig to the temporary support bracket is 100 mm,and the top and bottom side of the drill arm will not interfere with the bracket during the displacement.

关 键 词：D-H方法 蒙特卡洛方法 工作空间 轨迹规划 钻锚车 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]