基于末端杆件姿态约束的串联机器臂避碰策略

根据双臂凿岩台车上六自由度串联机械臂的工作特点，为减小机械臂运动干涉的可能性，提出了该机械臂在运动过程中保持末端杆件垂直于工作断面的姿态约束条件，并给出实现这一约束条件的运动学方法和空间杆件发生干涉的判断式.针对某隧道断面64个炮孔设计，对机械臂运动进行了仿真，结果表明文中所提方法具有良好的避碰效果.
To reduce the possibility of motion interference of manipulators, a pose constraint was proposed according to the mechanism characteristics of manipulators for a hydraulic tunneling rig with two 6 DoF (degree of freedom) manipulators. The pose constraint is that the end link of manipulator keeps perpendicular to working cross section during whole motion process. Then, kinematic methods for the realization of the constraint and the minimum distance between spatial links were given. Finally, motion simulation of manipulators was made for a tunneling cross section with 64 borehole design pattern. The results show that the pose constraint of end link perpendicular to working section during the motion of manipulators is effective for collision avoidance