机器人化掘进机的运动分析及车体定位

为实现对悬臂式掘进机的截割断面实时监测和自动控制，对其机器人化模型进行简化.采用平行坐标系法建立掘进机连杆坐标系和工作坐标系，通过坐标变换矩阵描述掘进机悬臂的姿态以及掘进机车体相对巷道坐标系的位姿变换关系，并基于闭环尺寸链实现了掘进机车体以及截割头在作业空间的姿态定位.在分析掘进机悬臂运动学的基础上，讨论了掘进作业控制的正向和逆向问题，并进行了仿真验证.分析表明，掘进机作业控制正解是截割断面监测的基础，逆解可指导掘进操作和实现掘进自动控制.

Kinematics analysis and carriage positioning of roboticized roadheader

In order to monitor and control cutting section automatically,the boom-type roadheader was simplified as roboticized model.By using the parallel coordinates system,roadheader link coordinates system and its work coordinates system were established,and its boom posture and transformation relation relative to the tunnel coordinates system were described through coordinates transformation matrix.Based on closed loop size chain,roadheader carriage positioning and cutting header posture localization were achieved in the operation space.On the base of analysis boom kinematics,the forward and inverse problem of tunneling operation control were discussed,and the simulation and confirmation were carried on.The analysis indicates that the forward problem is the foundation of monitoring cutting section,and the inverse problem may instruct tunneling operation and achieve automatic control.