摘要
针对隧道锚杆安装过程中的效率低、阻力大、不易完全装入等问题,为满足不同施工工况、不同长度、不同直径的锚杆安装作业需求,设计一种新型的隧道锚杆安装机械手,主要包括抓取机构、推进机构和支撑装置。采用D-H法建立锚杆安装机械手的坐标系,通过齐次坐标变换建立机械手的运动学方程,求解速度雅克比矩阵,建立推进机构运动与机械手爪运动之间的关系,为锚杆安装机械手的运动学仿真提供理论依据。
Aiming at the problems of the low efficiency, big resistance and bolt broken in the process of tunnel rock bolt installation, in order to satisfy different construction conditions, different length, different diameters of the rock bolt installation work requirements, a new type of tunnel rock bolt installation manipulator was designed, which included gripper mechanism, feed mechanism and supporting device. The D-H method was adopted to establish coordinate system of rock bolt installation manipulator, according to homogeneous coordinate transition to establish its kinematics equation. Then velocity Jacobin matrix was obtained, for the purpose of establishing the relationship between the feed mechanism motion and gripper mechanism motion, providing theoretical basis for kinematics simulation of rock bolt installation manipulator.
作者
周远航
李剑雄
刘瑞庆
李大伟
孙海波
Zhou Yuan-hang;Li Jian-xiong;Liu Rui-qing;Li Da-wei;Sun Hai-bo(Tunneling-dedicated Equipment Center,China Railway Tunnel Group Co.,Ltd,Henan Luoyang,471009,China)
出处
《佳木斯大学学报（自然科学版）》
CAS
2018年第5期730-734,共5页
Journal of Jiamusi University：Natural Science Edition
