凿岩台车钻臂工作空间求解

钻臂工作空间作为凿岩台车的主要参数,是研究凿岩台车的重要部分.以某型号台车钻臂为例,建立其三维模型.将钻臂简化为多关节机器人,简化过程中合并一些相同功能的杆件,尽量减少运动学方程中变量的个数；运用D-H方法建立其运动学方程,通过相应转换矩阵和坐标的运算,可以得到钎杆顶端在底板坐标系中的坐标值是各关节变量的函数,即工作空间的运动学方程；最后在MATLAB中根据建立的运动方程编程求解钻臂的工作空间.

Workspace solution of drill jumbo boom

The boom workspace as the main parameters of Drill Jumbo is important part of Drill Jumbo research.Three-dimensional model of boom is established based on a type of Drill Jumbo boom.The boom can be simplified to a multi-joint robot,at the sametime mergering some parts which have the same function to reduce the number of variables in the kinematic equations;D-H method is used to establish the kinematic equations,though some corresponding computing between matrix and coordinate vector,and then get rod pole coordinate in basecap coordinate system are the function of each joint variables.At last using MATLAB to programing solve the boom workspace according to the kinematic equations established before.