关键词: 三臂凿岩台车, 防碰撞路径规划, 人工势场法, 钻臂碰撞干涉检测

Abstract:  The three manipulators of threeboom rock drilling jumbos collide when conducting coordinated drilling work. This is owing to irrational path planning, resulting in equipment damage and tunneling efficiency reduction. Therefore, an anticollision path planning method is proposed based on the improved artificial potential field(APF) method. First, the improved DH method is employed to establish a drill boom kinematic model of the threeboom rock drilling jumbo, and the envelope box method is used to reasonably simplify the drill boom structure and further establish a mathematical model for collision detection. Then, the potential field function in the conventional potential field method is reconstructed, and the potential energy is introduced into each joint of the manipulators to ensure that the potential field can constrain the movement posture of the manipulator. Finally, a case study is conducted on a 188hole tunnel face; the manipulators operate according to the optimized drilling sequence, and the anticollision path is simulated. The simulation results reveal the following: (1) The shortest distances between the middle manipulator and the left and right manipulators are 984.6 and 580.8 mm, respectively, based on the drilling sequence with the shortest distance, and there is no collision and interference. (2) Based on the drilling sequence with the smallest joint variance, the shortest distances between the middle manipulator and the left and right manipulators are 193.5 and 580.8 mm, respectively, and manipulator collision risk exists. Thus, the drilling sequence with the shortest distance should be adopted to realize a coordinated anticollision drilling operation of the threeboom rock drilling jumbo.

Key words:  , threeboom rock drilling jumbo, anticollision path planning, artificial potential field, manipulator collision interference detection