摘要
钻臂的工作空间是衡量钻臂工作能力的一个重要的运动学指标。应用D-H法对钻臂进行正向运动学分析,给每一级连杆建立坐标系,并给出杆系参数以及相应的变量变化范围,最后建立钻头位置相对于钻臂底座的位姿关系矩阵。依据钻臂关节量与工作空间的映射关系,基于蒙特卡洛法对钻臂工作空间进行数值法分析和描述,并利用MATLAB仿真出钻臂末端钻头位置在空间中的工作点集和覆盖面积。为后续钻孔任务规划、液压系统控制以及结构参数改进奠定基础。
The boom workspace is an important kinematic index to evaluate the working ability of boom.The D-H method is used to analyze the forward kinematics of boom.The coordinate system is established for each connecting rod,and the parameters of the rod system and the corresponding variable range are given. Finally,the position and orientation matrix of the bit relative to the base of boom is established.According to the mapping relationship between the joint numerical value of boom and the workspace,the workspace of boom is analyzed and described numerically based on Monte Carlo method,and the working point set and coverage area of the bit at the end of boom in space are simulated by MATLAB software,which lays a foundation for subsequent drilling task planning,hydraulic system control and structural parameter improvement.
作者
林智秋
罗红波
赵康
施显阳
LIN Zhi-qiu;LUO Hong-bo;ZHAO Kang;SHI Xian-yang(College of Manufacturing Science and Engineering, Sichuan University, Sichuan Chengdu 610065, China)
出处
《机械设计与制造》
北大核心
2019年第8期165-167,171,共4页
Machinery Design & Manufacture
基金
四川省科技计划重点研发项目(2017GZ0352)
