悬臂式掘进机空间位姿的运动学模型与仿真

为实现掘进断面自动截割成形控制，达到无人采掘装备自主巡航目标，研究了悬臂式掘进机空间位姿运动学模型并进行了仿真。将悬臂式掘进机的机械机构简化为一系列平移或旋转关节串联而成的运动链，建立了掘进机空间位姿坐标体系；利用齐次坐标变换和机器人运动学相关理论建立了掘进机机身位姿和截割头相对于大地坐标系的空间位姿矩阵。采用D-H法求解了正向运动学问题即截割头空间位姿精确定位；采用代数法分析研究了逆向运动学问题即截割头轨迹规划及控制的数学模型。以EBZ200机型为例，实验仿真了类S形自下而上矩形截割断面工艺路径，并进行了现场多组试验。试验结果表明：设定巷道断面4 500 mm×4 000 mm，两帮综合最大误差为65 mm，相对控制最大误差为1.4%，达到煤巷断面质量精度要求，且重复精度高、无累计偏差。

Spatial pose kinematics model and simulation of boom-type roadheader

In order to realize the automatic cutting shaping control of excavation section and achieve the goal of autonomous cruise of unmanned mining equipment,authors conducted a research on the spatial pose kinematics model and simulation of boom-type roadheader.This research firstly simplified the mechanical structure of boom-type roadheader into a series of kinematic chains formed by translational or rotational joints,and established a roadheader automatic cutting spatial pose coordinate system.Then the research established a pose matrix,the roadheader body pose and cutting head of which was opposite to geodetic coordinate system,based on the related theories of homogeneous coordinate transformation and robot kinematics.In this research,the D-H method was used to solve forward kinematics problem,which was the precise positioning of cutting head spatial pose;and an algebraic method was used to analyze inverse kinematics problem,which was the mathematical model of cutting head trajectory planning and control.Meanwhile,the EBZ200 roadheader was used as an example in the simulation of the analogous S-shaped bottom-up processing path of rectangular cutting cross-section.In addition,several groups of field tests were conducted.The experiment results show that the setting cross-section is 4 500 mm×4 000 mm in size,the biggest error of the two combined is 65 mm,and the biggest error of relative control reaches 1.4%,which meets the quality precision requirements of the coal roadway section with high repeatability precision and little cumulative deviation.