中文摘要：

针对矿井下硬岩钻孔爆破工程,将凿岩机器人钻臂转化成多关节机器人系统。根据D-H模型及几何分析法完成了钻臂的正逆运动学求解,并采用曲线拟合算法,通过构建钻臂后两液压缸与钻臂之间的几何模型,得到了钻臂的俯仰角和偏转角的计算公式;在此基础上,采用运动学算法对矿车在巷道中的停偏问题进行了纠偏。验证结果表明,所提算法误差在允许范围内,这为凿岩机器人下一步的控制设计打下了基础,在对矿洞开采的自动化、智能化的应用上具有现实意义。

英文摘要：

Considering the hard rock drilling and blasting project in underground mine,the rock drilling manipulator was converted to the multi-joint robot system. According to D-H model and geometric analysis method,positive and inverse kinematics solution of the boom was conducted. In addition,curve fitting algorithm was applied to establish the geometric model of the boom and two hydraulic cylinders behind the boom,and then the calculation formulas of the pitch angle and the defl ection angle of the boom were obtained. Based on which,the kinematics algorithm was applied to rectify the stopping error of the tramcar in the roadway. The verifi cation results showed the error of the proposed algorithm was within the allowable range,which built foundation for further control design of the robot and possessed practical signifi cance in the application of automation and intelligence of the rock drilling.