煤矿巷道修复作业机器人作业机构设计与性能分析  

Operation mechanism design and performance analysis of coalmine roadway repair robot

作　　者：薛光辉[1,2] 胡卫军 王誉博 候称心 侯鹏 韩司聪 XUE Guang-hui;HU Wei-jun;WANG Yu-bo;HOU Chen-xin;HOU Peng;HAN Si-cong(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China;Key Laboratory of Intelligent Mining and Robotics,Ministry of Emergency Management,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,北京100083 [2]煤矿智能化与机器人创新应用应急管理部重点实验,北京100083

出　　处：《煤炭工程》2022年第5期182-187,共6页Coal Engineering

基　　金：国家重点基础研究发展计划(973)资助项目(2014CB046306);国家自然科学资金资助项目(51874308)。

摘　　要：针对现有煤矿巷道修复机器人作业机构不够灵活、作业效率低等诸多不足,提出了一种四自由度三节臂的煤矿巷道修复作业机器人作业机构,基于D-H参数法建立了该作业机构的运动学模型,分析了该作业机构的正逆运动学,得到了关节转角与末端位移随时间的变化关系,利用虚拟样机技术和蒙特卡洛法仿真分析了所设计作业机构的作业空间和极限作业尺寸,结果表明运动过程中各关节转角变化平稳,没有突变现象,两种分析方法得到的作业空间相似,作业极限尺寸偏差在5%以内,且均优于设计值,表明该作业机构符合预期要求。研究成果对煤矿巷道修复作业机器人敏捷高效作业机构设计具有参考价值。Aiming at the inflexibility and low operation efficiency of the existing coal mine roadway repair robot operation mechanism,a 4-DOF three arm coal mine roadway repair robot operation mechanism is proposed.The kinematics model of the operation mechanism is established based on the D-H parameter method,the forward and inverse kinematics of the operation mechanism is analyzed,and the relationship between joint rotation angle and end displacement with time is obtained.The working space and limit working size of the designed working mechanism are simulated and analyzed using virtual prototype technology and Monte Carlo method,respectively.The results show that the rotation angle of each joint changes smoothly and there is no sudden change.The working space obtained by the two analysis methods is similar,and the deviation of working limit size is less than 5%,better than the design value,which indicates that the operation mechanism meets the expected requirements.The research results have reference value for the design of agile and efficient operation mechanism of coal mine roadway repair robot.

关 键 词：煤矿巷道修复 机器人 作业机构 运动学分析 作业空间 敏捷高效 

分 类 号：TD421[矿业工程—矿山机电]