Mechanism Design of Tunnel Bolt Installation  Manipulator Using DH Method

doi:10.3973/j.issn.2096-4498.2018.S1.029

Tunnel Construction ›› 2018, Vol. 38 ›› Issue (S1): 188-193.DOI: 10.3973/j.issn.2096-4498.2018.S1.029

Mechanism Design of Tunnel Bolt Installation  Manipulator Using DH Method

ZHOU Yuanhang, LIU Ruiqing, LI Jianxiong, LI Dawei, LIU Weitao

（Special Equipment Center of China Railway Tunnel Group Co., Ltd., Luoyang 471009, Henan, China）

Received:2017-05-05 Revised:2018-03-15 Online:2018-06-15 Published:2018-06-19

Abstract

Abstract:

In order to solve the problems of low efficiency, large resistance, and not easily to be fully loaded, etc., during tunnel bolt installation, coordinate system of bolt installation manipulator is established with DH method. With homogeneous coordinates of manipulator structure transforming to establish manipulator kinematics equation, and combining practical construction parameters, the relationship between pushing mechanism and mechanical paw movement is learned; design parameters of bolt installation manipulator are acquired theoretically; and thus a new bolt installation manipulator is designed. With an installation speed of 38.9 mm/s, the new bolt installation manipulator saves 2 h every link compared with traditional bolt installation, which brings about great economic advantages.

Key words: manipulator, structure, DH method, Jacobin matrix, tunnel bolt installation

CLC Number:

U 455.3

ZHOU Yuanhang, LIU Ruiqing, LI Jianxiong, LI Dawei, LIU Weitao. Mechanism Design of Tunnel Bolt Installation  Manipulator Using DH Method[J]. Tunnel Construction, 2018, 38(S1): 188-193.

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Mechanism Design of Tunnel Bolt Installation  Manipulator Using DH Method

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