Research On Trajectory Planning Technology Of Automatic Roof Bolter

With the development of our country's economy,people's demand for coal is more and more,and the demand for coal mine production is also higher and higher.In February 2020,in order to thoroughly implement the national "four revolutions,one cooperation" new energy security strategy,accelerate the supply-side structural reform of the coal industry,and promote the integrated development of intelligent technology and the coal industry,in order to improve the intelligence level of coal mines,eight ministries and commissions jointly formulated the guiding opinions on speeding up the development of the intelligence of coal mines,pointing out that the intelligence of coal mines is the core technical support for the high-quality development of coal industry.And the anchor bolt support automatic localization is one of the coal mine intellectualized "jamming neck" questions.Therefore,in order to meet the national development trend,to speed up the process of automatic control of the excavation process,and also to speed up the development process of intelligent and automatic coal mining,it is very necessary to carry out the research on the key technologies such as the triangle arm kinematics and trajectory planning of the automatic roof bolter.The major study contents of the thesis are as follows:(1)The kinematics model of the drill arm of the roof bolter is established.A two-step method is used to establish the kinematics model of the triangular arm of the automatic anchor drill truck studied in this paper,and then the forward kinematics of the arm is analyzed,at the same time,the relationship between the expansion of the boom cylinder and the joint angle is solved,and the correctness of the model is verified.(2)The trajectory planning method of the drill arm point of the automatic roof Bolter is studied in this paper.Through the research of cubic polynomial,quintic polynomial and cubic b-spline curve interpolation algorithm,the joint variables of the drilling arm are planned and the simulation experiment is carried out.The experimental results show that the superiority of the Polynomial interpolation interpolation algorithm is inferior to that of the B spline interpolation algorithm,while the superiority of the B spline interpolation algorithm is inferior to that of the Polynomial interpolation algorithm,but the Polynomial interpolation algorithm needsto know the speed of all the nodes,and the Polynomial interpolation algorithm needs to know the speed and acceleration of all the nodes,b-spline interpolation algorithm can be used for trajectory planning only if the node velocity is known.(3)The trajectory planning method of the drill arm of the automatic roof bolter is studied.Firstly,linear interpolation and circular interpolation,two common algorithms in Cartesian coordinate system space trajectory planning,are studied in detail Then it gives a solution to the problem of sharp angle at the connection point of multi-segment straight line connection or straight line and arc connection,that is,using arc to make the transition at the connection point,on this basis,an algorithm of replacing arc curve with cubic spline curve at the connection point is put forward.Finally,the simulation analysis is carried out.