一种凿岩机器人机械臂位姿数据采集方案设计  

Design of Data Acquisition Scheme for Robotic Arm of Rock Drilling Robot

作　　者：王文博 徐巧玉[1] 王军委 姬周珂 WANG Wenbo;XU Qiaoyu;WANG Junwei;JI Zhouke(Mechatronics Engineering School,Henan University of Science&Technology,Luoyang 471003,China;Luoyang GINGKO Technology Co.,Ltd.,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]洛阳银杏科技有限公司,河南洛阳471003

出　　处：《河南科技大学学报（自然科学版）》2020年第4期13-18,26,M0003,共8页Journal of Henan University of Science And Technology:Natural Science

基　　金：国家自然科学基金项目(51205108);河南省高等学校重点科研基金项目(15A535001)。

摘　　要：针对传统凿岩机器人机械臂位姿数据采集方案存在采集精度不高、抗干扰能力差等问题,提出了一种凿岩机器人机械臂位姿数据采集方案。采用绝对值编码器对机械臂位姿变化数据进行采集,并基于同步串行接口(SSI)差分输入、串行输出的设计方式完成编码器数据传输。选用复杂可编程逻辑器件(CPLD)作为控制器,微处理器(ARM)STM32F412作为系统处理核心,通过控制器局域网络(CAN)接口完成数据输出。实验结果表明:本方案具有良好的采集效果,机械臂末端位置信息在X方向、Y方向和Z方向上的最大误差为9.60 cm,最小误差为0.09 cm,满足隧道施工中偏差不得超过±10 cm的技术要求。该方案保证了采集系统的采集精度,提高了数据传输过程中的抗干扰能力。Aiming at the problems of low acquisition accuracy and poor anti-jamming ability in data transmission of traditional rock drilling robot manipulator pose data acquisition scheme,a rock drilling robot manipulator pose data acquisition scheme was proposed.The absolute encoder was used to collect the position and attitude change data of the manipulator,and the encoder data transmission was completed based on the design of synchronous serial interface(SSI)differential input and serial output.The complex programmable logic device(CPLD)was selected as the controller and the microprocessor(ARM)STM32F412 as the core of the system.The data of the whole system was output through the controller area network(CAN)interface.The experimental results show that the scheme has a good acquisition effect.The maximum error of the position information of the end of the manipulator is 9.60 cm in X direction,Y direction and Z direction,and the minimum error is 0.09 cm,which meets the technical requirement that the deviation in tunnel construction should not exceed±10 cm.The design scheme ensures the acquisition accuracy of the acquisition system and improves the anti-interference ability in the process of data transmission.

关 键 词：凿岩机器人 机械臂 绝对值编码器 姿态 数据采集 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]