Research On Bore Sequence Planning Of More Booms Rock Drilling Machine

Rock-drilling is an engineering equipment which is widely used in military engineering, tunneling of railways and highways, different kinds of mines and the construction of hydraulic engineering. The bore sequence planning of rock drilling machine hand is one of the most important effects which influences the constructional efficiency of rock-drilling. This thesis uses the positioning movement distance of the end of the manipulator actuator as a target optimization function, take three-hands rock-drilling as example,plans the bore sequence for three-hands rock-drillings, at last implements computer simulation analysis and experimental verification.First of all, analyses the structure and motor process of rock drilling machine hands, employ D-H means to construct Kinematics models and to analyse based on Kinematics, achieving the relationship between the position of the end of the drill pipe and the location of the base coordinate system, and employ numerical solution to get work space of machines hand.Second, aiming at the existing traits of multiple-freedom redundant, employ BP neural network to solve the problem of Kinematic inverse solving of machine hand, And through the establishment of the geometric model introduced relationship between manipulator rotation angle and the driving oil cylinder stroke; Aiming at the characters of plan of machine hand, simplify treat machine hand target as the TSP problem, take movement distance of the end of the actuator as a target optimization function, employ improved ant colony optimization to get the approximately optimal solution; Aiming at characters of the operating room of rock drilling machine hand, predict the interference of collision between multiple hands, divide the operating room into individual work space and cooperated work space, transfer the bore sequence planning multiple-hands rock drillings into a number of individual bore sequence plans, effectively solve multiply-hands target interference and collision interference.At last, use MATLAB tool case, establish the neural network and the procedure of ant colony optimization, emulate bore sequence planing of three-hands rock drilling. And take experiment on three-hands rock drilling based on the emulation, testify the validity of theory study and emulated analysis.58charts,2tables,66references.