摘要
基于煤炭开采领域无人化发展目标,为提高煤矿用锚杆钻车的智能化作业水平,对CMM2-36型液压锚杆钻车钻臂进行轨迹规划。首先,采用D-H参数法构建钻臂运动学模型,结合正、逆运动学分析,确定关节空间轨迹特征。其次,运用五次多项式插值法实现路径点连续插补,创新性地引入粒子群算法,对轨迹进行时间优化。最后,对轨迹规划结果进行仿真验证。研究结果表明,经过优化的五次多项式轨迹在保持速度平滑性的同时,定位时间缩短了11.9%,表明该方案有效提升了锚杆钻车钻臂自动定位的平稳性与定位效率,验证了模型的有效性。研究内容可为煤矿液压锚杆钻车智能化作业提供理论支撑和技术参考。
Based on the unmanned development goal in the field of coal mining,in order to improve the intelligent operation level of coal mine roof bolters,the trajectory planning for the drill boom of CMM2-36 hydraulic roof bolter is carried out.Firstly,the D-H parameter method is used to build the kinematic model of the drill boom,and the spatial trajectory characteristics of the joints are determined by combining the forward and inverse kinematic analysis.Secondly,the quintic polynomial interpolation method is used to achieve continuous path point interpolation,and the particle swarm optimization algorithm is innovatively introduced for time optimization of the trajectory.Finally,the trajectory planning results are verified by simulation.The research results show that the optimized quintic polynomial trajectory shortens the positioning time by 11.9%while maintaining velocity smoothness,which indicates that the scheme effectively improves the stability and positioning efficiency of the automatic positioning of the drill boom of the roof bolter,and verifies the validity of the model.The research content can provide theoretical support and technical reference for the intelligent operation of coal mine hydraulic roof bolters.
作者
刘子旋
许海龙
孙志林
LIU Zixuan;XU Hailong;SUN Zhilin(China Coal Technology&Engineering Group(Beijing)Testing Technology Co.,Ltd.,Beijing 100013,China)
出处
《凿岩机械气动工具》
2025年第12期1-8,164,共9页
Rock Drilling Machinery & Pneumatic Tools
基金
煤炭科学技术研究院有限公司技术创新基金Ⅱ类(2023CX-II-13)。
关键词
液压锚杆钻车
钻臂
粒子群算法
自动定位
轨迹规划
hydraulic roof bolter
drill boom
particle swarm optimization algorithm
automatic positioning
trajectory planning
