The Simulation And Analysis Of Kinematics And Mechanics For Light-duty Rock-Drilling Robot

The rock-drilling robot based on the computer controlled in recent years has been developed rapidly abroad. There are many researches and developments on this field in many countries. The research of the rock-drilling robot is still at the starting stage in our country, but our country pays much attention to research and development of the rock-drilling robot. It has already been classified as a project in the special robot field by 863 Hi-Tech programs in the country. And the outstanding achievement of study has been made in Central South University of Technology on the tunnel rock-drilling robot. In the practical application, it shows that the robot has more obvious advantages than the traditional method of tunnel rock-drilling. For example, it can increase the precision of the section after blowing, control digging amount efficiently, improve the effect of blowing, raise the speed of rock-drilling, and improve working condition obviously.Our country is a mountainous physiognomy, the work of digging tunnel about various basic constructions is very great, the rock-drilling equipments are almost imported from foreign country at present. We have spent hundreds of million dollars on importing millions of liquid rock-drilling equipments, which give priority to railroad and water and electricity system since 1980s. From now on, the construction of railroad, highway, water and electricity will come into a new development stage, and the demand of this kind of equipments will increase year after year. Therefore, we should accelerate the study of rock-drilling robot in our country, in order to reduce cost, enhance rock-drilling efficiency and improve working condition.In this paper, a new light-duty rock-drilling robot is created based on the ATH12-1F robot. In the kinematics part, I build a kinematics equation of the light-duty rock-drilling robot using DenavitHartenberg method, and study the positive problem and negative problem of robot's arm, the trajectory tracking and working space as well. In the statics part, I deduce a statics equation using Jacobi matrix, resolve the positive problem and negative problem, discuss the effect of gravity and external applied load on robot's arm, and analyze stability of the vehicle. I resolve dynamics problem using Lagrange method. Matlab performs the computing process.In this paper, a platform with a friendly interface in VB environment for the control and...