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为优化煤炭采样工艺,设计了一种6-DOF机械臂。通过正、逆运动学分析采样工艺和机械臂的位姿变化,开发了基于嵌入式ARM9和Win CE的控制系统,利用实时、模块化结构,闭环控制机械臂采煤动作。结果表明:煤炭采样时,各关节和刚体间无错位冲突,对实现煤矿井下有限空间煤炭采样作业有重要的应用价值。
In order to optimize the coal sampling process, a 6-DOF manipulator was designed. The positive and negative kinematics analysis of the sampling process and the change of pose of the manipulator developed the control system based on the embedded ARM9 and Win CE. The real-time and modular structure of the manipulator was used to control the coal mining operation. The results show that there is no dislocation conflict between joints and rigid bodies during coal sampling, which has important application value for coal sampling in limited space in coal mine.