构型改进型凿岩机器人钻孔定位方法研究  

Study on Posture Determination Method for Holes of Rock Drilling Robots with Improved Architecture

作　　者：姚海峰 刘伟[2] 郑晓雯[1] 张兰胜[2] 刘福新[2] 吴淼[1] YAO Haifeng;LIU Wei;ZHENG Xiaowen;ZHANG Lansheng;LIU Fuxin;WU Miao(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing,100083;Shijiazhuang Coal Mining Machinery Co., Ltd.,Shijiazhuang,051431)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]石家庄煤矿机械有限责任公司,石家庄051431

出　　处：《中国机械工程》2020年第18期2254-2261,2267,共9页China Mechanical Engineering

基　　金：国家重点基础研究发展计划(973计划)资助项目(2014CB046300);河北省科技攻关计划资助项目(14211902D)。

摘　　要：设计了一种改进型凿岩机器人,其腕部为含伸缩构件的偏置结构,肩部为两两相交结构。发现了该机器人的两个特性:一是对第5自由度参数的求解可以转化为对特定直线与特定平面法线之间夹角的求解,二是关节轴3和关节轴4的交点与原点之间的距离为定值。根据上述两个特性,可以采用迭代搜索方法获得第5和第6自由度参数值。提出了一种新的机器人运动学求解方法,其计算过程无须建立各连杆坐标系,采用倒序逐步完成的方法进行正向求解,采用逐步归位的方法进行逆向求解。加工组装了改进型凿岩机器人,编制了计算程序,并完成了工业性试验。试验结果表明:所设计的凿岩机器人操作安全可靠、计算快速准确,解决了旧式凿岩机器人计算耗时长和定位精度不够的难题,可为实现深部煤层无人化采掘提供一定的参考。An improved rock drilling robot was designed,the wrist was an offset structure with a prismatic link,and the shoulder was the intersecting structure.Two features of the robot were found:one was that the solution for the fifth degree of freedom parameter was equivalent to the solution for the angle between a special line and the normal of a special plane,the other one was that the distance between the intersection point of joint axis 3 and 4 and the origin point was fixed.According to the above two characteristics,the fifth and sixth degree of freedom parameter values might be obtained by iterative search method.A new method for solving robot kinematics was presented,it wasn't necessary to establish the coordinate frames attached to all the links in the calculation processes.The forward solution was carried out in reverse order step by step,and the inverse solution was carried out step by step by returning method.The improved rock drilling robot was machined and assembled,the calculation program was compiled,and the industrial test was completed.The testing results show that the designed rock drilling robot is safe and reliable in operations,fast and accurate in calculations,which solves the problems of long calculation time and insufficient positioning accuracy of the old rock drilling robots,and may provide certain references for the realization of unmanned mining in deep coal seams.

关 键 词：改进型凿岩机器人 偏置腕部 构型特性 迭代搜索 工业性试验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]