Research On Semi-Automatic And Fully Automatic Operation Algorithm Of A Sixdegree-of-Freedom Mining Rock Drilling Manipulator

Mining rock drilling robots are widely used in underground tunnel excavation.The rock drilling robots have high operating efficiency,can increase the speed of tunnel excavation,reduce the labor intensity of workers,and further automate and intelligently upgrade the rock drilling robots.It has broad application prospects and significant strategic significance.This paper takes a certain type of 6-DOF rock drilling robot manipulator as the research object,and studies its motion algorithm and related automation.The main contents are as follows:First,the kinematics analysis of the selected rock drilling robot manipulator is performed.The forward kinematics problem of the manipulator is analyzed and solved based on the DH parameter method;for the problem that the inverse kinematics solution of the manipulator cannot be solved by the inverse transformation method,the analytical solution of the posture of the end of the manipulator is firstly solved based on the inverse transformation method,and then combined with the actual engineering In this case,an algorithm to solve the inverse kinematics solution of the manipulator is proposed.Secondly,it is proposed to divide the automatic operation mode of the manipulator into two modes: semi-automatic mode and fully automatic mode.The semi-automatic operation mode abandons the current method of manually controlling the joints and then controlling the posture of the end of the robotic arm,and upgrades to manual direct control of the posture of the end of the robotic arm.The fully automatic operation mode is based on the kinematic inverse solution model,and controls the movement of the end of the robotic arm according to the input pose information of the target point without the need to manually operate each action.Then,analyze the anti-collision problem of the robotic arm.The rock drilling robot has two basically identical mechanical arms,and the collision of the mechanical arms includes single-arm collision,double-arm collision and collision between the arms and the environment,and corresponding anti-collision algorithms are developed for each situation.Based on the ant colony algorithm,the end drilling sequence planning is completed when the single arm completes the work alone;for the purpose of reducing the collision of the robotic arms,a hole sequence planning scheme when the two arms work at the same time is designed.Finally,the virtual prototype model of the rock drilling robot is established to verify the correctness of the kinematics algorithm by simulation;the experimental platform of the rock drilling robot is built,and the semi-automatic and fully automatic operation algorithms are written into the control system to verify the correctness of the semi-automatic and fully automatic operation algorithms.