凿岩机器人钻臂平行联动机构的机理建模

摘要

从液压系统的基本方程入手,对凿岩机器人钻臂平行联动机构进行了机理建模.在建模过程中,忽略对模型精度影响不大的一些次要因素,获得了系统的简化模型,为实现钻臂的轨迹跟踪和精确定位控制创造了条件.%Starting with the basic equation of the hydraulic system, this paper deals with the mechanism modeling for double triangle boom luffer and its hydraulic system. A simplified model of the system is obtained by neglecting some unimportant factors that affects the model accuracy. As a result, the condition for the trajectory tracking and accurately locating control of the boom is created.