换钻机械臂结构设计与运动分析  

Structural Design and Motion Analysis of Drilling Rods Change Robot Arm

作　　者：罗江南 李建平[1] 刘磊[1] 郝梦达 LUO Jiang-nan;LI Jian-ping;LIU Lei;HAO Meng-da(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《液压与气动》2023年第12期81-90,共10页Chinese Hydraulics & Pneumatics

基　　金：山西省重大项目(20201101010)。

摘　　要：为了实现瓦斯钻机钻杆的自动更换,设计了一种以摆动油缸为主要驱动元件的换钻机械臂。通过改进D-H法建立机械臂的运动学模型,利用解析法求取正逆解;利用MATLAB求得机械臂的工作空间;通过五次多项式对机械臂的运动轨迹进行规划;运用ADAMS进行动力学仿真;以第一摆动缸作为被控对象设计位置闭环控制回路,增加压力补偿阀以减少摆动油缸的振动。结果表明,以摆动油缸为主要驱动装置的换钻机械臂结构设计合理;在回路中增加压力补偿阀可显著减少振动冲击和绝对误差。In order to realize automatic replacement of drilling rods for gas drilling rigs,a drilling change robot arm with the swing oil cylinder as the main driving element was designed.Firstly,the kinematics model of the manipulator is established by improved D-H method,and the forward and inverse solutions are obtained by analytical method;Secondly,obtain the workspace of the robotic arm by MATLAB;Thirdly,Plan the motion trajectory of the robotic arm through the fifth degree polynomial,and use ADAMS for dynamic simulation;Finally,design a position closed-loop control circuit with the first swing cylinder as the controlled object,and add a pressure compensation valve to reduce the vibration and error of the swing cylinder.The results show that the structure design of the robotic arm with the swing oil cylinder as the main driving device is reasonable;Adding the pressure compensation valve in the circuit can significantly reduce vibrance and absolute error.

关 键 词：换钻机械臂 位置闭环控制 压力补偿 摆动油缸 

分 类 号：TH137[机械工程—机械制造及自动化] TD403[矿业工程—矿山机电] TH122