锚杆钻车钻臂工作空间分析及仿真

钻臂的工作空间是衡量钻臂运动能力的一个重要指标。应用D-H法对钻臂进行正运动学分析,并建立钻臂连杆各关节坐标系。基于设计的连杆参数及变量范围,建立钻杆相对于钻臂基座的位姿矩阵。基于蒙特卡洛法分析,利用MATLAB仿真出钻臂工作空间及覆盖面积,通过Robotic toolbox工具对运动学结果进行验证,为后续钻孔规划及结构改进提供基础。

Analysis and Simulation of Working Space of Drill Arm of Anchor Machine

The working space of the drill arm is an important index to measure the movement ability of the drill arm. The D-H method was used to analyze the kinematics of the drill arm, and the coordinate system of each joint of the drill arm connecting rod was established. Based on the designed connecting rod parameters and variable ranges, the posture matrix of the drill arm relative to the drill arm base was established. Based on Monte Carlo analysis, MATLAB was used to simulate the working space and coverage area of the drill arm,the Robotic toolbox tool was used to verify the kinematics results.Provided a basis for subsequent drilling planning and structural improvement.