EFFECTIVE SOLUTION OF THE PROBLEM OF DIRECT KINEMATICS FOR DRILLING ROBOT-MANIPULATOR WITH FOUR DEGREES OF FREEDOM IN THE MAPLE PROGRAM
DOI:
https://doi.org/10.26577/JMMCS2023v119i3a6Keywords:
Direct kinematics, hydraulic drive, drilling robot, lever mechanism, excavator, vector expressionAbstract
Today, construction machines are widely used, which can be used in hazardous and toxic working environments, in other adverse environments, and in places where it is very difficult for a human operator to control the machine. At the same time, in the current difficult economic situation, it is important to increase the productivity of these construction machines in the mining, construction, and manufacturing sectors. Due to the versatility and convenience of hydraulically driven manipulators among construction machines, they occupy the majority of equipment used in mining or construction work. Vibration machines are used in many technological processes for the removal of hard rocks and other materials in the work performed by hydraulic excavators. This paper considers a hydraulically driven drilling robot with four degrees of freedom. These are machines and equipment based on lever mechanisms of variable structures, which have a number of advantages over analogs. The use of mechanisms of variable structures significantly increases the reliability of vibration shocks, their design is simple and does not require imported materials and components. This is especially important for machines operating in difficult mountain conditions. Under the above operating conditions, semi-automatic or fully computer-controlled machines can work successfully and efficiently. To do this, it is important to understand the kinematics of this machine. therefore, the article describes the sequence of actions required to solve the direct problem of kinematics directed at a drilling robot with four degrees of freedom.
References
Geu Flores F., Kecskemethy A., Pottk A., "Workspace Analysis and Maximal Force Calculation of a Face-Shovel Excavator using Kinematical Transformers" , 12th IFToMM World Congress, Besanc, (2007).
Cui Hongxin, Feng Ke, Li Huanliang, Han Jinhua, "Virtual prototype and experimental research on spatial kinematics of telescopic robotic excavator", International Journal of Advanced, Robotic Systems, (2017): 1–9. DOI: 10.1177/1729881417705305 journals.sagepub.com/home/arx.
Dhaval Kumar A Patel, Bhavesh P Patel, Mehul Kumar A Patel, "A critical review on kinematics of hydraulic excavator backhoe attachment" , IJMERR 4 (2) (2015).
Zenkevich S.L., Upravlenie robotami (M.: Izd-vo MGTU im. N.E. Baumana, 2000): 400.
Koivo A.J., "Kinematics of excavators (back-homes) for transferring surface material" , Journal of Aerospace Engineering,
(1) (1994): 17–32.
Jomartov A., Tuleshov A., "Vector method for kinetostatic analysis of planar linkages", The Brazilian Society of
Mechanical Sciences and Engineering, 40(56) (2018). DOI: https://doi.org/10.1007/s40430-018-1022-y.
Artobolevskii I.I., Teoriya mekhanizmov i mashin (M.: Nauka, 1988).
Yunhan Lin, Huasong Min, "Inverse Kinematics of Modular Manipulator Robot with Shoulder Offset Based on Geometric Method Mixed with Analytical Method Algorithm" , The 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, (2015).
Xuewen Yang , Zuren Feng , Chenyu Liu, Xiaodong Ren, "A Geometric Method for Kinematics of Delta Robot and its Path Tracking Control" , 14th International Conference on Control, Automation and Systems (ICCAS 2014), (2014).
