Research on Motion Algorithm for Intelligent Operation of Rock Drill With Eight Degrees of Freedom

摘要

An algorithm for intelligent operation of eight-degree-of-freedom hydraulic rock drill is proposed. With the help of a total station instrument, the position the rock driller was obtained. The D-H method was used to establish the linkage coordinate system of the rock drill manipulator, and the kinematic equations with joint variables being the inputs were obtained. Considering the structural characteristics of the rocker manipulator itself and the actual working conditions, the constrained equations were set, the inverse kinematic analysis was performed, and an intelligent algorithm that gave the analytical expression of each joint variable was obtained. The simulation model of the robotic arm was established by using Adams simulation software, the simulation results were in accordance with the theoretical calculations, which shows correctness of the algorithm. The research results provide a theoretical basis for follow-up drilling trajectory planning and lay a foundation for the intelligent operation of the rock drill.