| With the rapid development of China’s highways, railway construction, it isurgent need to improve the mechanical level of the tunnel construction. After weakrock is excavated in tunnel construction, steel arch support is used to control thedeformation of the surrounding rock and avoid its collapse. Currently, most domesticsteel arches are installed artificially or by simple auxiliary equipment, features ofabove installation method is long construction time, high labor intensity, low efficiency.The specialized machinery used to install steel arch is the future mechanicaldevelopment direction undoubtedly.The design of Steel arch installed mechanical arm system has a decisive impacton the performance of the entire machinery. In this paper, based on mechanicalprinciples, theoretical mechanics, robotics, hydraulic control technology and controltheory， the steel arch installed mechanical arm system is studied. Technicalrequirements and installation characteristics are analyzed in installation andconstruction process, and overall plan for a steel arch installed car is designed.Kinematics and dynamics models of the steel arch installed mechanical arm system areestablished and simulated using MATLAB software. At the same time, Part models ofmechanical arm are created in3D software Solidworks and assembled virtually; virtualprototyping is simulated in ADAMAS environment. Results of kinematical anddynamic model provide a basis for design and motion control of hydraulic system,simulation results of work scope coincides with the simulation results obtainedMATLAB, further verify the rationality of the design. Aiming at the motion controlresearch, straight line and arc motion trajectory planning of mechanical arm is carriedout in the Cartesian space. By analyzing the working principle and operatingcharacteristics of construction, hydraulic system of mechanical arm is designed.Finally, hydraulic system and trajectory control are verified by built test platform. |
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