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Structure Synthesis and Innovative Design of Drilling Arm Mechanism of Rock Drilling Robot Based on Graph Theory

卢副伟

浙江理工大学

Abstract: As an important part of rock drilling robot,the drill arm mechanism is widely used in national infrastructure construction and energy exploitation.The key of the innovative design of rock drilling robot lies in the innovative design of drilling arm mechanism.However,there is a great lack of research on the structural synthesis and innovative design of drilling arm mechanism in the existing literature.In order to solve this problem,the systematic type synthesis of the drilling arm mechanism was synthesized by graph theory,the kinematic chain atlas was established.Combined with the characteristics of the existing drilling arm mechanism and the innovative design requirements,the specific select standard was given to filter in atlas and strive to find out all the mechanism configurations that meet the design and the practical requirements,which break through the blockade of foreign heavy industry patents,and realize the innovation design of the drilling arm mechanism configuration.Specific research contents are as follows:1)The formula for solving the values of the high-order adjacency point was modified;the uniqueness description of the characteristics of the vertices in the topological graph and identification of the similarity of the vertices in the topological graph were realized by using the high-order adjacency vertex values sequence which was solved by the formula.On the basis of the high-order adjacency vertex values sequence,two topological graphs were assigned with definite value and indefinite value,and the corresponding relation between the vertices of the two topological graphs was distinguished and solved.The isomorphism of the topology graph was identified though comparing the transformed adjacency matrix which was carried on the row and column transformation according to the corresponding relationship with the adjacency matrix of another topology graph.The modified sequence of high-order adjacency vertex values vertices can not only solve the similarity vertices of topological graphs,but also distinguish the isomorphism of topological graphs.2)The related parameters of the frequently-used configuration of the drill arm mechanism were analyzed,and the graph model of the kinematic chain of the drill arm mechanism was established.According to the longest path of topological graphs which contains the component more than or equal to N-3,all the possible corresponding adjacency matrix were found by using the method of permutation and combination and the structural rationality of the topological graph corresponding to each adjacency matrix was identified,then the graph with vertices of single degree,discrete vertices,rigid sub-chains and topological graph were excluded.An algorithm flow chart of the mechanism configuration synthesis was given,and a comprehensive program was written,and a gallery of 7 and 9 components was established,the automatic synthesis of mechanism configuration was realized finally.3)According to the structural characteristics of the existing drilling arm mechanism and the functional requirements of innovative design,the specific structural selection criteria and functional preference criteria were given.After selecting the results of configuration synthesis,56 kinds of mechanism topologies satisfying the requirements of drilling arm mechanism were obtained.4)Innovative design of the drilling arm structure.The kinematics model of the drill arm mechanism was established by using trigonometric function transformation and closed-loop method.The parameter optimization program was written with the help of matlab,and the interface was built at the same time.According to the optimization parameters,the 3D model of corresponding parts was established with solidworks2016.Then the model was imported into Adams for virtual action simulation.Finally,the static analysis,prototype machining and experiment on the drilling arm mechanism were carried out.
  • Series:

    (C) Architecture/ Energy/ Traffic/ Electromechanics, etc; (I) Electronic Technology & Information Science

  • Subject:

    Architecture and Engineering; Automation Technology

  • DOI:

    10.27786/d.cnki.gzjlg.2020.000852

  • Classification Code:

    TU631;TP242

Tutor:

张国凤; 孙良; 金华良;

Retraction:

工程硕士(专业学位)

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