隧道支护设备机械臂运动学分析
陈世雨1，任华1，冯怀2，杨伟1
（1.西华大学 机械工程学院，四川 成都 610039；2.四川蓝海智能装备制造有限公司，四川 成都 610039）
摘要：隧道建设中隧道支护为关键工序，针对需求国内大量公司研究所进行了其设备的研发，隧道内工况的复杂性，在产品设计好后需要验证其是否能满足施工和结构上的合理性，本次的产品结构新颖特殊集成多个功能，其操作控制难度高，故需要对其进行运动学分析。利用MOD_DH法确定两个工作系统的参数、坐标系建立正运动学方程，为灵活适应需求两个工作系统都为冗余机械臂，使用传统解析法求解逆运动学分析上存在困难，故本次利用遗传算法结合粒子群算法并加以改进，更好地满足逆运动学求解需求，利于蒙特卡洛和拉丁超立方抽样法进行设备工作空间的求解，然后在Matlab中进行仿真，结果表明该设备满足施工要求，但两个功能组不能同时工作，为后续的控制和结构改进提供了理论基础。
关键词：凿岩与拱架抓手机械臂；MOD_DH；工作空间；逆运动学；改进遗传粒子群算法
中图分类号：TP241 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.11.009文章编号：1006-0316 (2023) 11-0062-10
Kinematics Analysis of the Mechanical Manipulator of Tunnel Support Equipment
CHEN Shiyu1，REN Hua1，FENG Huai2，YANG Wei1
( 1.School of Mechanical Engineering, XihuaUniversity, Chengdu 610039, China; 2.Sichuan Lanhai Intelligent Equipment Manufacturing Co., Ltd., Chengdu 610039, China )
Abstract：Tunnel support Tunnel support is a key process in tunnel construction. A large number of domestic companies and research institutes have carried out research and development of their equipment to meet the demand. Due to the complexity of working conditions in the tunnel, it is necessary to verify whether they can meet the construction and structural rationality after the product design is completed. Since The product structure is novel, special and integrated with multiple functions, it is difficult to operate and control it. Therefore, kinematics analysis is required. MOD_ DH method is used to determine the parameters and coordinate systems of the two working systems and establish the forward kinematics equations. In order to meet the requirements flexibly, the two working systems are redundant mechanical arms, and there are difficulties in inverse kinematics analysis. The traditional analytical method is not applicable. Genetic algorithm is combined with particle swarm optimization to better meet the requirements of inverse kinematics solution. It is convenient for the use of Monte Carlo and Latin hypercube sampling methods to solve the workspace. The result of simulation with Matlab show that the equipment meets the construction requirements, but the two functional groups cannot work at the same time. It provides a theoretical basis for subsequent control and structure improvement.
Key words：rock drilling and arch grab arm；MOD_DH；workspace；forward kinematics；genetic particle swarm optimization
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收稿日期：2023-03-06
作者简介：陈世雨（1996－），男，四川内江人，硕士，助理工程师，主要研究方向为车辆工程，E-mail：chenshiyu@stu.xhu.edu.cn；杨伟（1965－），男，四川崇州人，工学博士，教授，主要研究方向为车辆工程，E-mail：yw@mail.xhu.edu.cn。
（1.西华大学 机械工程学院，四川 成都 610039；2.四川蓝海智能装备制造有限公司，四川 成都 610039）
摘要：隧道建设中隧道支护为关键工序，针对需求国内大量公司研究所进行了其设备的研发，隧道内工况的复杂性，在产品设计好后需要验证其是否能满足施工和结构上的合理性，本次的产品结构新颖特殊集成多个功能，其操作控制难度高，故需要对其进行运动学分析。利用MOD_DH法确定两个工作系统的参数、坐标系建立正运动学方程，为灵活适应需求两个工作系统都为冗余机械臂，使用传统解析法求解逆运动学分析上存在困难，故本次利用遗传算法结合粒子群算法并加以改进，更好地满足逆运动学求解需求，利于蒙特卡洛和拉丁超立方抽样法进行设备工作空间的求解，然后在Matlab中进行仿真，结果表明该设备满足施工要求，但两个功能组不能同时工作，为后续的控制和结构改进提供了理论基础。
关键词：凿岩与拱架抓手机械臂；MOD_DH；工作空间；逆运动学；改进遗传粒子群算法
中图分类号：TP241 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.11.009文章编号：1006-0316 (2023) 11-0062-10
Kinematics Analysis of the Mechanical Manipulator of Tunnel Support Equipment
CHEN Shiyu1，REN Hua1，FENG Huai2，YANG Wei1
( 1.School of Mechanical Engineering, XihuaUniversity, Chengdu 610039, China; 2.Sichuan Lanhai Intelligent Equipment Manufacturing Co., Ltd., Chengdu 610039, China )
Abstract：Tunnel support Tunnel support is a key process in tunnel construction. A large number of domestic companies and research institutes have carried out research and development of their equipment to meet the demand. Due to the complexity of working conditions in the tunnel, it is necessary to verify whether they can meet the construction and structural rationality after the product design is completed. Since The product structure is novel, special and integrated with multiple functions, it is difficult to operate and control it. Therefore, kinematics analysis is required. MOD_ DH method is used to determine the parameters and coordinate systems of the two working systems and establish the forward kinematics equations. In order to meet the requirements flexibly, the two working systems are redundant mechanical arms, and there are difficulties in inverse kinematics analysis. The traditional analytical method is not applicable. Genetic algorithm is combined with particle swarm optimization to better meet the requirements of inverse kinematics solution. It is convenient for the use of Monte Carlo and Latin hypercube sampling methods to solve the workspace. The result of simulation with Matlab show that the equipment meets the construction requirements, but the two functional groups cannot work at the same time. It provides a theoretical basis for subsequent control and structure improvement.
Key words：rock drilling and arch grab arm；MOD_DH；workspace；forward kinematics；genetic particle swarm optimization
———————————————
收稿日期：2023-03-06
作者简介：陈世雨（1996－），男，四川内江人，硕士，助理工程师，主要研究方向为车辆工程，E-mail：chenshiyu@stu.xhu.edu.cn；杨伟（1965－），男，四川崇州人，工学博士，教授，主要研究方向为车辆工程，E-mail：yw@mail.xhu.edu.cn。
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