The Analysis And Simulation Of The Positioning Error About Drill Jumbo's Working Equipment

As the key equipment of drill-blasting construction,Drill Jumbo's drilling efficiency and positioning accuracy directly affect the hole quality and blasting effect.It is of great significance to improve the positioning accuracy,reduce the overbreak quantity and the underbreak quantity,reduce construction cost by studying the kinematics and positioning error.In this paper,the working equipment of the TAMROCK Drill Jumbo is used as the object of study.The theory derivation,quantitative calculation and simulation analysis are carried out for the kinematics analysis,vehicle body position,trajectory planning and positioning error.Firstly,the three-dimensional model of the working equipment is established by SOLIDWORKS.Kinematic equations are established by using of the D-H method.Through comparison between the MATLAB simulation result and the three-dimensional model measurements,the correctness of the kinematics equation is verified.The coordinate transformation matrix of the vehicle body coordinate system relative to the tunnel section coordinate system is deduced,and the precise positioning of the vehicle body is realized.Several typical trajectory planning curves are compared with the simulation and analysis,which provides the basis for the design and selection of the trajectory planning.In this paper,the deflection and corner of the arm and the feeding beam in the different state are calculated by the equivalent moment of inertia method and the section moment of inertia method.The differential matrix method is used to analyze the error of the working equipment about structure manufacturing and detection.Getting the error matrix about the coordinate system of the end of the drill rod relative to the coordinate system of drill arm and the error variation curve under the limit condition.The error distribution of the working equipment in the tunnel section is solved.The influence of the rods on the positioning error of the end of the drill rod is analyzed and compared,which has a good guiding effect on the design and manufacture of the parts of the working equipment.Finally,the virtual prototype model of the working equipment is established by ADAMS and the MNF file of the three drill arm is realized by ANSYS.The kinematic simulation and positioning error analysis of the working equipment are carried out that based on the rigid-flexible coupling dynamics model which is established by ADAMS and ANSYS.Getting the displacement error curve of the end of the drill rod about the positioning conditions.Then effect of the flexible drilling arm on the positioning accuracy of the Drill Jumbo is analyzed.