坑道钻机用机械臂结构设计及运动学研究  

Research on structural design and kinematics of mechanical arm for drilling rig

作　　者：张宁 钟自成 ZHANG Ning;ZHONG Zicheng(Xi’an Research Institute,China Coal Technology&Engineering Group Co.Ltd.,Xi’an 710077,Shaanxi,China)

机构地区：[1]中煤科工西安研究院(集团)有限公司,陕西西安710077

出　　处：《中国工程机械学报》2024年第3期369-374,共6页Chinese Journal of Construction Machinery

基　　金：陕西省重点研发计划资助项目(2023-YBGY-340)。

摘　　要：为减少煤矿坑道钻机施工人员劳动强度,保障作业安全,设计了多自由度机械臂,分析了该机械臂的主要结构和工作原理,得到了各部件的基本运动参数,研究了抓手体的位姿、速度与各部件运动学参数之间的关系,利用Matlab软件仿真得到了抓手体的作业范围,同时对比研究了采用依次驱动和同步驱动方式下抓手体的运动轨迹。结果表明:采用同步驱动方式能够使抓手体的运行速度和加速度曲线更平滑,运行工况更趋于平稳,此时抓手体运动的速度和加速度最大值仅分别为347 mm/s、55 mm/s2,能够有效降低抓手体的速度和加速度峰值以及减少波动次数。研究结果为多自由度机械臂在坑道钻机的现场施工使用提供了理论基础。In order to reduce the labor intensity of the construction personnel of the coal mine drilling rig and ensure the operation safety,the multi degree of freedom the mechanical arm for drilling rig is designed,the structural composition and working principle of the mechanical arm are analyzed,the basic motion parameters of each rod are obtained,and the relationship between the position and inclination of the gripper and the kinematic parameters of each component is studied.The working range of the mechanical arm is obtained by Matlab software simulation.At the same time,the motion trajectory of the mechanical arm is studied by using the control mode of sequential drive and synchronous drive.The results show that the synchronous drive control mode can make the operating speed and acceleration curve of the mechanical arm smoother and the operating condition more stable,At this time,the maximum velocity and acceleration of the gripper centroid movement are only 347 mm/s and 55 mm/s2 respectively,which can effectively reduce the peak velocity and acceleration at the mechanical gripper centroid and reduce the number of fluctuations.The research results provide a theoretical basis for the on-site construction of the multi degree of freedom mechanical arm in drilling rig.

关 键 词：坑道钻机 机械臂 运动学分析 D-H坐标系 仿真研究 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]