凿岩机器人钻臂油缸行程计算方法的误差分析

摘要

笔者分别以几何法和坐标变换法计算了凿岩机器人钻臂的油缸长度,并与实际测得油缸伸缩长度进行比较,得出了坐标变化法计算值和实际值的吻合度高,满足了凿岩机器人钻臂末端定位精度的要求。%The paper calculates the cylinder length of the rock drill robot＇s boom based on the geometric method and the coordinate transformation method,and then compares it with actually measured telescopic length of the cylinder.The calculated telescopic length is well coincident with the actual one,which can satisfy the positioning precision of the boom end of the rock drill robot.