凿岩机器人壁碰问题

来源期刊：中南大学学报(自然科学版)2000年第4期

论文作者：朱建新 贺湘宇 何清华

文章页码：353 - 355

关键词：凿岩机器人;孔序规划;运动学模型;壁碰问题

Key words：rocking-drilling robot; drilling sequence planning; kinetic model; wall-impact analysis

摘    要：在考虑隧道形状与尺寸的情况下,提出了一种将壁碰分析由三维空间转化为二维平面的判别准则及其判别方法,并运用该准则与方法对双臂隧道凿岩机器人钻臂的壁碰问题进行了分析.应用结果表明,该准则与方法判别简单,计算速度快,具有一定的理论意义和实际意义.

Abstract: In this article, determination discriminating rule and its method to transfer wall-impact problem from three dimensional space to plane are presented with consideration of shape and volume of tunnel in this case. Also the practical analysis is applied on simplified model of two booms by the determination rule and method. The result shows that this rule and method can be determined simply, calculated quickly and have important application value.