Study On The Technique Of RPJ-D Shotcrete Robot

The present paper mainly had carried on the elaboration to some research works of the RPJ-D robot. In the view of the shotcrete work craft characteristic and the working space request, the organization overall shaping design was completed to RPJ-D shotcrete robot ,which arm was designd as a manner of SOC{-R⊥R⊥P⊥R⊥R⊥P/R⊥R -}. The mechanism had 8 degrees of freedom. It was a kind of robot that had the redundant degree of freedom which increasing the working space of the robot, and making the robot's overall construction size was more compact. With the aid of the motion-combining structure of the machinery - hydraulic unit, the robot was allowed to maintain the spray gun as the vertical pose to the tunnel surface automatically. According to the request of the working field, the modular design and the multi-purpose design was present for the robot According to the need of the operating space ,the work characteristic and so on, the optimized design mathematical model was separately established for each important working part of the shotcrete robot. Using the heredity optimization algorithm, the optimal solution for overall situation was obtained, which had completely satisfied each kind of the initial request,and had a very good motion-combining precision. Deferred to the needs of saving energy, motion-combining and to adapt different kinds of powers system requests, the reasonable design was obtained for the hydraulic control system of the robot.In the view of the shotcrete robot's new structural style, its kinematics equation had be established, Jacobian matrix had be inferred , and the effective work space of the robot had be analyzed with the Monte Carlo law.Using the Lagrange method,the dynamic equation was Inferred for the shotcrete robot too, which provided the accurate theoretical analysis model for robot control and emulation work and so on.It proposed the idea to establish converse movement-solution model using the artificial nerve network method for shotcrete robot. The new nerve network technology was utilized to study establishing the converse movement-solution model for shotcrete robot. The GRNN (generalized regreesion NN) ,one kind of RBF nerves network, was chosed to found the converse movement-solution model for thr shotcrete robot. It also studied the influence of the spread coefficient for the approach ability to this network model,and a best spread coefficient had be chosen. After the emulation process,it was proved that the solution result may cause the robot to defer to the technological requirement way and the movement posture completely, and the precision was higher. This method had avoided the tedious process such as analysis law process used to.It solved the no-definite problem of the converse movement-solution in the redundant degree of freedom robo.The paper presented a viewpoint that how to improve the solution precision.Established had the shotcrete robot virtual prototype model. Through completed the modelling and the working condition dynamic emulation using the virtual prototype, it provided the essential gross data for the robot analyses.Based the robot virtual prototype, The finite element analysis and the structure optimization design was realized for the related part for the robot.