盾构换刀机器人设计与应用OA

To address the problems of high labor intensity,high operational risk,and low operational efficiency in manual disc cutter changing during shield tunneling machine construction,a changing operation plan using robot instead of humans was proposed.A new type of tool system suitable for robot operation and a high-power density redundant degree of freedom robot mechanisms were designed.The D-H parameter method was used for kinematic modeling,the robot pose calculation was achieved.The rapidly-exploring random tree(RRT)algorithm was used for robot tool change path planning,the obstacle avoidance path calculation was achieved during the motion processes.Based on the B-spline curves,the robot joint motion trajectory calculation was achieved.A simulation analysis platform was built for robot tool changing,and the effectiveness of the proposed solution was verified.Finally,a tool changing robot test bench was built,and a tool changing robot control system was constructed based on the operation layer,control layer,and execution layer.The feasibility of the tool changing robot system design scheme was verified through pa-rameter calibration,laboratory and engineering testing.