Aiming at the problems of low automation degree and low efficiency of catenary operation vehicle in railway tunnel,a catenary dual-arm operation vehicle was developed,which could complete a series of operations such as reinforcing bar detection,drilling anchor,drawing test,hanging column installation and maintenance.The standard D-H method was used to build the kinematics model of the dual-manipulator system,and the forward and inverse kinematics were analyzed.The posture and position of the end-effector were deduced by homogeneous transformation,and then the accuracy of the model was proved by comparing the results of MATLAB simulation and mathematical calculation.Known the initial position of the dual-arm system and the end posture under working state,quintic polynomial interpolation was adopted to plan trajectory.Each joint displacement,velocity and acceleration curves of the dual-arm system were gotten.It provides reference for the further optimization of the dual-arm system.
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郑雪楷,刘放,魏文清,杨言.接触网双机械臂作业车运动学分析及轨迹规划[J].机床与液压,2023,51(11):34-39. ZHENG Xuekai, LIU Fang, WEI Wenqing, YANG Yan. Kinematic Analysis and Trajectory Planning of Catenary Dual-arm Vehicle[J]. Machine Tool & Hydraulics,2023,51(11):34-39