Research On Positioning Error And Movement Patterns Optimization Of Shotcrete Manipulator

Abstract:Wet spraying machine plays an irreplaceable role in the modern underground construction. As the core working mechanism of wet spraying machine, the structural size, flexibility and reliability of shotcrete manipulator have important influence on the working performance and productivity. Because of the high moving frequency and operating arbitrariness of the manipulator in the actual working condition, mechanical transmission error and flexible deformation error have great influence on the positioning error of manipulator. In this paper, taking the CHP30wet spraying machine manipulator as a research model, a detailed and in-depth study was carried out on its positioning error and movement patterns optimization. The main works are as follows:Firstly, based on the analysis of structure and moving process of the shotcrete manipulator, the kinematic model was established by D-H method, and deduced the pose error model of manipulator based on the forward kinematics. Using numerical methods, the static error space of the manipulator is obtained in Matlab programming.Secondly, Combined with three-dimensional modeling software Solidworks and multi-body system dynamics software ADAMS, the manipulator’s multi-rigid-body dynamics model is obtained. Modal analysis of the manipulator telescopic boom is conducted by ANSYS, the generated modal neutral file is imported into ADAMS to establish rigid-flexible coupling of the manipulator. On the basis of the lagrange equation and screw theory, the shotcrete manipulator dynamics equation and flexible deformation are analyzed, The dynamic error model was established. Thirdly, in order to obtain the dynamic error in all directions, the paper analyzes the load conditions and dynamic load mode of the shotcrete manipulator, and studies the dynamics simulation of side spray and overhead spray conditions by using the ADAMS. Besides, the paper also analyzes the influence of jet velocity on the dynamic error of the manipulator end effector. In view of the manipulator’s vibration and deformation in the actual operation, the manipulator movement patterns has been optimized, the manipulator’s best working order and working length ratio are figured out by the simulation analysis.Finally, taking the CHP30wet spraying machine as a platform and changing the manipulator movement patterns, the side spray experiment is completed and the validity and reliability of the virtual prototype and simulation results are verified.