【摘要】 为对"穿地龙"机器人的轨迹进行仿真,推导出"穿地龙"机器人运动轨迹的坐标公式,建立了"穿地龙"机器人运动轨迹的数学模型;在轨迹规划的基础上进行有限元分析,研究了"穿地龙"机器人进行打孔作业时的波及范围,确定了地下作业对周边的影响,对实际施工中轨迹的控制和躲避障碍物的规划奠定了基础。更多还原

【Abstract】 In order to simulate the trajectory of the "dragon of puncturing mud" robot, the coordinate formula of the trajectory of the dragon is deduced, and the mathematical model of the trajectory of the dragon is established. The finite element analysis is carried out on the basis of trajectory planning, the scope of impact of"dragon of puncturing mud" robot in drilling operation is studied, the influence of the underground operation on the surrounding area is determined, which lays a foundation for the control of trajectories in actual construction and the planning of obstacle avoidance.更多还原