ISSN 2096-4498
CN 44-1745/U
Tunnel Construction ›› 2013, Vol. 33 ›› Issue (4): 281-286.DOI: 10.3973/j.issn.1672-741X.2013.04.005
Previous Articles Next Articles
HAN Yong, GUAN Huisheng
Received:
Revised:
Online:
Published:
Abstract:
The design of the manipulators of shotcreting machines is complex. The control of the working path of the endeffector is the key point of the design. In order to solve the control problem of the joint drives, the authors make study on the relationship between the working path of the endeffector and the structure of the manipulator, build the kinematics equation by DH coordination system, and provide the inverse kinematics solution. The inverse kinematics solution method is employed to calculate the pole parameters of the manipulator under a given shotcreting path by using Matlab and COSMOSMotion language. A virtue prototype experiment is designed to simulate the motion of the manipulator. The simulation result meets the working requirements. It shows that the inverse kinematics solution is correct. The mentioned method can be applied to the study on similar manipulators.
Key words: shotcreting manipulator, inverse kinematics, virtual prototype, Matlab
HAN Yong, GUAN Huisheng. Study on Inverse Kinematics of Manipulators of Shotcreting Machines[J]. Tunnel Construction, 2013, 33(4): 281-286.
0 / / Recommend
Add to citation manager EndNote|Ris|BibTeX
URL: http://www.suidaojs.com/EN/10.3973/j.issn.1672-741X.2013.04.005
http://www.suidaojs.com/EN/Y2013/V33/I4/281