双臂掘进钻车自动化钻孔方法研究

基金项目:

河北省科技攻关计划资助项目（14211902D）

河北省研究生创新资助项目

详细信息

Research on an automatic drilling method for dual-arm drill rig

School of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China

摘要: 在对双臂掘进钻车进行运动学分析的基础上，分析了钻车的作业能力和理想位姿，研究了双臂掘进钻车的钻臂之间及钻臂与巷道之间的碰撞检测方法，提出了一种双臂掘进钻车自动化钻孔方法。在Matlab环境下对该方法进行了仿真验证，结果表明该方法能够使钻臂到达钻孔位姿，实现自动化钻孔，为进一步研究双臂掘进钻车钻臂的运动规划及自动化钻孔奠定了基础。
- 双臂掘进钻车 /
- 作业能力分析 /
- 理想位姿 /
- 碰撞检测 /
- 自动化钻孔
Abstract: Based on kinematics analysis of dual-arm drill rig, operation ability and ideal position of dual-arm drill rig were analyzed, collision detection methods of dual-arm drill rig between the arms and between the arms and roadway were studied, and an automatic drilling method for dual-arim drill rig was put forward. A simulation experiment was carried out in Matlab. The experimental result shows that the method can make the arms of dirll rig arrive the ideal position and realize automatic drilling, which lays a foundation for further research on trajectory planning of the arms of dual-arm drill rig and automatic drilling.
- dual-arm drill rig /
- operation ability analysis /
- ideal position /
- collision detection /
- automatic drilling