| 掘进机器人仿形截割建模与轨迹仿真研究 |
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| 引用本文： | 毛君,李建刚,陈洪月.掘进机器人仿形截割建模与轨迹仿真研究[J].计算机仿真,2010,27(3):175-178. |
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| 作者姓名： | 毛君 李建刚 陈洪月 |
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| 作者单位： | 辽宁工程技术大学机械工程学院,辽宁,阜新,123000 |
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| 基金项目： | 辽宁省高校重点实验室基金(20060369);;辽宁工程技术大学大型工矿装备实验研究中心基金(2007-64) |
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| 摘 要： | 针对掘进机器人掘进过程中,尖峰负荷影响,及切割机构的非平稳振动,引起欠挖和超挖,机器损耗加剧等问题,以悬臂式掘进机巷道自动成形为研究对象,建立了掘进机仿形截割的动态数学模型,推导出截割头运动到半圆拱形巷道边界时,悬臂偏移角和油缸伸长量之间的通用公式,在使用数字液压缸按照所给巷道运动时,通过控制各个油缸伸长量来实现掘进机的自动控制机理。采用MATLAB软件仿真了截割头仿形截割运动过程,取得和实际工况相一致的结果,验证了模型的可行性和优越性,为掘进机器人研究奠定了通用的控制理论基础。
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| 关 键 词： | 掘进机器人 仿形截割 建模与仿真 截割轨迹 |
Modeling and Path Simulation Research of Profiling Cutting for Tunnel Robot |
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| MAO Jun,LI Jian-gang,CHEN Hong-yue.Modeling and Path Simulation Research of Profiling Cutting for Tunnel Robot[J].Computer Simulation,2010,27(3):175-178. |
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| Authors: | MAO Jun LI Jian-gang CHEN Hong-yue |
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| Affiliation: | College of Mechanical Engineering/a>;Liaoning Technical University/a>;Fuxin Liaoning 123000/a>;China |
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| Abstract: | Aimed at the problems of over or under excavating,machine dissipation aggravating etc caused by top load influence and non-stationary vibration of cutting devices in robotic roadheader tunnelling,the boom-type roadheader tunnel automatic molding was investigated,dynamic model of profiling memory cutting for roadheader was built.The general formula of the angle of boom deviation and oil cylinder elongation was obtained.The horizontal swing,vertical swing and compound motion of roadheader were realized throug... |
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| Keywords: | Tunnel robot Profiling cutting Modeling and simulation Cutting path |
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