隧道机器人在复杂环境下记忆切割的运动学和仿真分析外文翻译.docxVIP

英文原文AbstractConsidering the actual conditions of the roadway drivage for the tunnel robotic, the law of cutting enveloping surface motion in space does not change along with selection of coordinates, roadheader link coordinates and its work coordinates were established.Combined the spatial location of cutting head cutting enveloping surface with the geometric analysis of its mechanism, the mathematical model of profiling memory cutting between enveloping surface and angular sensors detection data for tunnel robot was built. The influence factors of cutting roadway cross-section shape dimension such as the roadway slope, inclination and link mechanism were described. The relation between the spatial location of enveloping surface and angular displacement was described. The real-time and reliability of the model were verified through simulating the motion path of profiling memory cutting.This approach provides a theoretical foundation for the realization of the real-time monitor and auto control of tunnel robot cuttingroadway cross-section.Keywords: tunnel robot; kinematics; coordinate transformation; modeling1. IntroductionRoadheader is the most important equipment of mechanized roadway head[1]. Through cutting head drilling and boom swing, roadheader cuts tunnel into requested shape. The profiling memory cutting of roadheader can get the tunnel of uniform geometry and desired size, according to a laneway projected dimension. The useless tunneling and filling quantity is reduced, tunneling efficiency increased, tunnel driving cost reduced maximally, and economicefficiency is dramatic. To implement the automation of drivage, the profiling cutting research of boom-type roadheader has already begun in domestic and overseas[2-7], but is at the beginning stage of theories probing and trial debug phase[8-9].It is an important constituent of robotic roadheader with positive sense on auto-roadheader. Considering the actual conditions of the roadway drivage for the tunnel rob