Kinematic Study of Triangular Drill Arm in Rock Drilling Trolley
Aiming at the difficulty in controlling the triangular drill arm structure in drilling rigs,a new solution is proposed.Firstly,a three-dimensional model of the triangular drill arm is established,and forward and inverse kinematics are solved using approximation and algebraic methods.Secondly,based on the geometric structure of the triangular drill arm,the spatial coordinates of the target points are determined by applying the robot coordinate system transformation method,and the precise expressions for the extension and retraction amounts of the two arm cylinders of the triangular drill arm are calculated.Finally,the effectiveness of the proposed method is verified through simulation experiments.
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