煤矿巷道修复机机械臂运动学建模及仿真  

Kinematics Modeling and Simulation of Mechanical Arm of Coal Mine Roadway Repair Machine

作　　者：李驰 Li Chi(CCTEG Robot Technology Co.,Ltd.,Shenzhen 518000,China)

机构地区：[1]中煤科工机器人科技有限公司,广东深圳518000

出　　处：《煤矿机械》2024年第5期119-122,共4页Coal Mine Machinery

基　　金：国家重点研发计划(2022YFB4703605)。

摘　　要：以WPZC-150/2100L型巷道修复机为研究对象,采用几何法和D-H法建立了巷道修复机机械臂的数学模型,使用蒙特卡洛法分析了机械臂的工作空间,并使用ROS中的MoveIt功能包求逆解及路径规划,通过rviz实时显示机械臂的位置并控制其运动。将路径规划的结果传递给控制器,实现了液压机械臂的控制。The type of WPZC-150/2100L roadway repair machine was taken as the research object,used geometric method and D-H method to establish the mathematical model for the mechanical arm of the roadway repair machine.The working space of the mechanical arm was analyzed by Monte Carlo method,the inverse solution of kinematics and path planning were obtained by using the MoveIt function package in ROS,the position of the mechanical arm was displayed in real time and its motion was controlled by rviz.The results of path planning were transmitted to the controller to realize the motion of the hydraulic mechanical arm.

关 键 词：巷道修复机 机械臂 运动学模型 运动学仿真 

分 类 号：TD266[矿业工程—矿井建设]