掘锚支机器人的钻锚机械臂工作空间分析  

Analysis of Drill-anchor Manipulator Workspace for Excavation-bolting-support Robot

作　　者：杨鹏[1,2] 张勇[1,3] 王亮[1,2] Yang Peng;Zhang Yong;Wang Liang(State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines,Anhui University of Science and Technology,Huainan 232001,China;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;School of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学省部共建深部煤矿采动响应与灾害防控国家重点实验室,安徽淮南232001 [2]安徽理工大学机械工程学院,安徽淮南232001 [3]安徽理工大学电气与信息工程学院,安徽淮南232001

出　　处：《煤矿机械》2021年第4期76-79,共4页Coal Mine Machinery

基　　金：安徽省教育厅高校协同创新项目(GXXT-2019-048)。

摘　　要：为了解决掘进巷道效率低、安全性差等问题,提出了一种可独立跨骑在掘进机上的新型掘锚支机器人,可降低对综掘机改造的成本,同时可实现掘、支、锚平行作业,并对其前端钻锚机械臂的工作空间进行分析。基于D-H法建立前端钻锚机械臂的运动学模型,再利用蒙特卡洛算法求解出钻臂末端执行器所能触及到的空间范围。研究结果表明,该前端钻锚机械臂可满足3 400 mm×3 600 mm(宽×高)的断面巷道钻锚任务,为无人化钻锚作业奠定基础。To solve the problems of low efficiency and poor safety of tunneling roadway, a new type of stepping-type excavation-bolting-support robot which can straddle the tunneling machine independently was proposed to reduce the cost of reforming the integrated excavation machine and realize synchronous operation of excavation, support and anchor, and analyzed the working space of the front drill-anchor manipulator. The kinematics model of the front drilling arm was established by D-H method, and the space range that can be reached by the end-effector of the drilling arm was solved by Monte Carlo method. The results show that the front end drill-anchor manipulator can meet the task of drilling and anchoring in section roadway for 3 400 mm×3 500 mm specification, which lays a foundation for unmanned drilling and anchoring operation.

关 键 词：掘支锚平行作业 D-H法 蒙特卡洛算法 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]