The three
manipulators of threeboom 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 anticollision path planning method is
proposed based on the improved artificial potential field(APF) method. First,
the improved DH method is employed to establish a
drill boom kinematic model of the threeboom 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
188hole tunnel face; the manipulators operate
according to the optimized drilling sequence, and the anticollision 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 anticollision
drilling operation of the threeboom rock drilling
jumbo.
LYU Weisheng
,
CUI Menghao
,
JI Huifu
,
ZHANG Zhongwei
.
AntiCollision Path Planning of
Manipulators of Three-Boom Rock
Drilling Jumbo During Coordinated Drilling
[J]. Tunnel Construction, 2023
, 43(10)
: 1801
-1809
.
DOI: 10.3973/j.issn.2096-4498.2023.10.017
