Research On Anti-collision Path Planning Algorithm Of Eight-degree-of-freedom Redundant Rock Drilling Manipulator

With the development of science and technology,the intelligent time has come.As the main construction machinery of tunnel excavation and mine mining,it is of great significance to develop the rock drilling manipulator intelligently.Therefore,this paper aims at a certain type of rock drilling manipulator arm research,the main work is as follows:Firstly,the basic structure of a special type of drilling manipulator is analyzed,and the kinematics model is established to analyze its forward kinematics solution.Since the manipulator has redundant joints,the constraint conditions are established according to different working conditions,and the inverse solutions are solved by inverse transformation method and Newton iteration method respectively.The reciprocal coupling relation of 2-UPS+U parallel mechanism is studied,and an inverse solution method is proposed.The position and pose conversion relationship between manipulator coordinate system and total station coordinate system is analyzed.Secondly,the impact detection method of drilling mechanical arm is described.The collision types of the mechanical arm are divided into the collision between the mechanical arm and the environment and the collision of the mechanical arm itself.The impact model of the joint of the mechanical arm is constructed by the enveloping box envelope method.The detection of the self-collision is divided into the rapid detection stage and the precise detection stage,which ensures the real-time and accurate detection of the collision of the mechanical arm.Then,a general path planning method based on collision detection is proposed.The motion of the manipulator is controlled by quintic polynomial interpolation to ensure the stability of the manipulator.The concept of safe zone is proposed.For the hole site in the safe zone,the manipulator moves along a fixed non-collision trajectory.For the hole sites outside the safe area,an improved v-BI-RRT algorithm was proposed and combined with the collision detection algorithm,a non-collision path was planned,and the generated path was smoothed.Finally,a virtual prototype of the drilling manipulator is built,and the correctness of the kinematics algorithm and trajectory planning algorithm is verified by simulation.The experimental platform of drilling manipulator was built,and the algorithm was written into the control system to verify the correctness of the algorithm.