构型改进型凿岩机器人钻孔定位方法研究

doi:10.3969/j.issn.1004-132X.2020.18.014

摘要/Abstract

摘要： 设计了一种改进型凿岩机器人，其腕部为含伸缩构件的偏置结构，肩部为两两相交结构。发现了该机器人的两个特性：一是对第5自由度参数的求解可以转化为对特定直线与特定平面法线之间夹角的求解，二是关节轴3和关节轴4的交点与原点之间的距离为定值。根据上述两个特性，可以采用迭代搜索方法获得第5和第6自由度参数值。提出了一种新的机器人运动学求解方法，其计算过程无须建立各连杆坐标系，采用倒序逐步完成的方法进行正向求解，采用逐步归位的方法进行逆向求解。加工组装了改进型凿岩机器人，编制了计算程序，并完成了工业性试验。试验结果表明：所设计的凿岩机器人操作安全可靠、计算快速准确，解决了旧式凿岩机器人计算耗时长和定位精度不够的难题，可为实现深部煤层无人化采掘提供一定的参考。

关键词: 改进型凿岩机器人, 偏置腕部, 构型特性, 迭代搜索, 工业性试验

Abstract:

An improved rock drilling robot was designed, the wrist was an offset structure with a prismatic link, and the shoulder was the intersecting structure. Two features of the robot were found: one was that the solution for the fifth degree of freedom parameter was equivalent to the solution for the angle between a special line and the normal of a special plane, the other one was that the distance between the intersection point of joint axis 3 and 4 and the origin point was fixed. According to the above two characteristics, the fifth and sixth degree of freedom parameter values might be obtained by iterative search method. A new method for solving robot kinematics was presented, it wasnt necessary to establish the coordinate frames attached to all the links in the calculation processes. The forward solution was carried out in reverse order step by step, and the inverse solution was carried out step by step by returning method. The improved rock drilling robot was machined and assembled, the calculation program was compiled, and the industrial test was completed. The testing results show that the designed rock drilling robot is safe and reliable in operations, fast and accurate in calculations, which solves the problems of long calculation time and insufficient positioning accuracy of the old rock drilling robots, and may provide certain references for the realization of unmanned mining in deep

coal seams.

Key words: improved rock drilling robot, offset wrist, architecture characteristic, iterative search;industrial test

中图分类号:

TP24

姚海峰1；刘伟2；郑晓雯1；张兰胜2；刘福新2；吴淼1. 构型改进型凿岩机器人钻孔定位方法研究[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.18.014.

YAO Haifeng1；LIU Wei2；ZHENG Xiaowen1；ZHANG Lansheng2；LIU Fuxin2；WU Miao1. Study on Posture Determination Method for Holes of Rock Drilling Robots with Improved Architecture[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.18.014.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2020.18.014

http://www.cmemo.org.cn/CN/Y2020/V31/I18/2254

参考文献

[1]葛世荣．智能化采煤装备的关键技术[J]. 煤炭科学技术,2014,42(9):7-11.
GE Shirong. Key Technology of Intelligent Coal Mining Equipment[J]. Coal Science and Technology, 2014,42(9):7-11.
[2]史建.露天潜孔钻机钻孔自动定位研究[D]．长沙：中南大学，2014.
SHI Jian. Research on Automatic Drilling Positioning of Down-the-hole Drilling Rig[D]. Changsha:Central South University,2014.
[3]ROBINSON J P, KINGMAN S W, SNAPE C E．Scale-up and Design of a Continuous Microwave Treatment System for the Processing of Oil-contaminated Drill Cuttings[J]．Chemical Engineer in Research and Design，2010，88：146-154.
[4]MEIER H, LAURISCHKAT R, BERTSCH C, et al. Prediction of Path Deviation in Robot Based Incremental Sheet Metal Forming by Means of an Intergrated Finite Element Multi Body System Model[J]. Key Enginnering Material,2009, 410/411:365-

372.
[5]蔡自兴，谢斌.机器人学[M].北京：清华大学出版社，2015.
CAI Zixing, XIE Bin. Robotics[M].Beijing:Tsinghua University Press, 2015.
[6]MEIER H, BUFF B, LAURISCHKAT R, et al. Increasing the Part Accuracy in Dieless Robot Based Incremental Sheet Metal Forming[J]. CIRP Annals:Manufacturing Technology, 2009,58:233-238.
[7]戴建生.机构学与机器人学的几何基础与旋量代数[M].北京：高等教育出版社，2014.
DAI Jiansheng. Geometrical Foundations and Screw Algebra for Mechanisms and Robotics[M]. Beijing:Higher Education Press, 2014.
[8]SELIG J M. 机器人学的几何基础[M].杨向东，译.北京：清华大学出版社，2014.
SELIG J M. Geometrical Fundamentals of Robotics[M]. YANG Xiangdong, trans. Beijing:Tsinghua University Press, 2014.
[9]斯庞，哈钦森，维德雅瑟格. 机器人建模与控制[M]. 贾振中，译.北京：机械工业出版社,2016.
SPONG M W, HUTCHINSON S, VIDYASAGAR M. Robot Modeling and Control[M]. JIA Zhenzhong, trans. Beijing:China Machine Press, 2016.
[10]NIKU S B. 机器人学导论——分析、控制及应用[M]. 2版.孙富春，朱纪洪，刘国栋，译.北京：电子工业出版社，2018.
NIKU S B. Introduction to Robotics：Analysis, Control, Applications[M]. 2nd ed. SUN Fuchun, ZHU Jihong, LIU Guodong, trans. Beijing:Electronic Industry Press, 2018.
[11]JAZAR R N. 应用机器人学：运动学、动力学与控制技术[M]. 周高峰，译.北京：机械工业出版社，2013.
JAZAR R N. Theory of Applied Robotics：Kinematics, Dynamics and Control[M]. ZHOU Gaofeng, trans. Beijing:China Machine Press, 2013.
[12]黄康,何春生，甄圣超，等.基于区间分析的机器人绝对定位精度分析方法[J].中国机械工程，2016, 27(11):1467-1473.
HUANG Kang, HE Chunsheng, ZHEN Shengchao, et al. An Absolute Positioning Accuracy Analysis Method for Robot Based on Interval Analysis[J]. China Mechanical Engineering, 2016, 27(11):1467-1473.
[13]KUCUK S, BINGUL Z. The Inverse Kinematics Solutions of Fundamental Robot Manipulators with Offset Wrist[C]∥Proceedings of the 2005 IEEE International Conference on Mechatronics. Piscataway, 2005:197-202.
[14]BINGUL Z, ERTUNC H M, OYSU C. Comparison of Inverse Kinematics Solutions Using Neural Network for 6R Robot Manipulator with Offset[C]∥Proceedings of the 2005 ICSC Congress on Computational Intelligence Methods and Applications.

Piscataway, 2005:251-255.
[15]刘志忠，柳洪义，罗忠，等. 基于偏置补偿的6自由度腕部偏置机器人逆解算法[J].东北大学学报（自然科学版），2012，33(6):870-871.
LIU Zhizhong, LIU Hongyi, LUO Zhong, et al. Inverse Kinematics Algorithm for 6-DOF Robots with Offset Wrist Based on Offset Compensation[J].Journal of Northeastern University(Natural Science), 2012, 33(6):870-871.
[16]卜王辉，刘振宇，谭建荣．基于切断点自由度解耦的手腕偏置型6R机器人位置反解[J].机械工程学报,2010,46(21):1-5.
BU Wanghui, LIU Zhenyu, TAN Jianrong. Inverse Displacement Analysis of 6R Robots with Offset Wrists Based on Decoupling Degrees of Freedom at the Cutoff Points[J]. Journal of Mechanical Engineering, 2010,46(21):1-5.
[17]陈平,刘国海.基于RBF神经网络的MOTOMAN-UPJ型机器人运动学逆解[J].机床与液压，2006(12):72-74.
CHEN Ping, LIU Guohai. A Method for Solving Inverse Kinematics of MOTOMAN-UPJ Manipulator Based on RBF Network[J]. Machine Tool & Hydraulics, 2006(12):72-74.
[18]黄开启，魏文彬，陈荣华，等.凿岩机器人钻臂定位误差补偿控制交叉精英反向粒子群优化算法[J].机械科学与技术，2018，37(7)：1005-1007.
HUANG Kaiqi, WEI Wenbin, CHEN Ronghua, et al. CEOPSO Algorithm for Positioning Error Compensation Control of Rock Drilling Robotic Drilling Arm[J].Mechanical Science and Technology for Aerospace Engineering,2018,37(7):1005-1007.