Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo
In order to improve the absolute positioning accuracy for the drill rod of the three-arm rock-drilling jumbo,firstly,based on the finite element simulation,the main parameters that affect the flexible error of the arm are determined by the orthogonal test method, and the flexible error compensation...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.001 |
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| author | Xia Yimin Li Zhengguang Luo Jianli Ma Jiesong |
| author_facet | Xia Yimin Li Zhengguang Luo Jianli Ma Jiesong |
| author_sort | Xia Yimin |
| collection | DOAJ |
| description | In order to improve the absolute positioning accuracy for the drill rod of the three-arm rock-drilling jumbo,firstly,based on the finite element simulation,the main parameters that affect the flexible error of the arm are determined by the orthogonal test method, and the flexible error compensation formula is obtained. Then,after the transformation of the force joint coordinate system,the calibration model is set up based on the kinematics position error,and the redundant parameters are eliminated in the model by redundancy analysis. Finally,the laser total station is used as the measuring device,and the LM algorithm is used to solve the calibration parameters to verify the kinematics calibration effect. The results show that the method effectively compensates the absolute positioning error of the drill rod,the absolute positioning error of the drill rod is reduced by 79. 6%. |
| format | Article |
| id | doaj-art-42f6e614c6f449a4aee384207b8a65ba |
| institution | OA Journals |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-42f6e614c6f449a4aee384207b8a65ba2025-08-20T02:37:17ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-01421529938822Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling JumboXia YiminLi ZhengguangLuo JianliMa JiesongIn order to improve the absolute positioning accuracy for the drill rod of the three-arm rock-drilling jumbo,firstly,based on the finite element simulation,the main parameters that affect the flexible error of the arm are determined by the orthogonal test method, and the flexible error compensation formula is obtained. Then,after the transformation of the force joint coordinate system,the calibration model is set up based on the kinematics position error,and the redundant parameters are eliminated in the model by redundancy analysis. Finally,the laser total station is used as the measuring device,and the LM algorithm is used to solve the calibration parameters to verify the kinematics calibration effect. The results show that the method effectively compensates the absolute positioning error of the drill rod,the absolute positioning error of the drill rod is reduced by 79. 6%.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.001Three-arm rock-drilling jumboKinematics calibrationOrthogonal testFlexible compensation |
| spellingShingle | Xia Yimin Li Zhengguang Luo Jianli Ma Jiesong Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo Jixie chuandong Three-arm rock-drilling jumbo Kinematics calibration Orthogonal test Flexible compensation |
| title | Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo |
| title_full | Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo |
| title_fullStr | Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo |
| title_full_unstemmed | Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo |
| title_short | Study on Absolute Positioning Error Compensation for the Drill Rod of the Three-arm Rock-drilling Jumbo |
| title_sort | study on absolute positioning error compensation for the drill rod of the three arm rock drilling jumbo |
| topic | Three-arm rock-drilling jumbo Kinematics calibration Orthogonal test Flexible compensation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.001 |
| work_keys_str_mv | AT xiayimin studyonabsolutepositioningerrorcompensationforthedrillrodofthethreearmrockdrillingjumbo AT lizhengguang studyonabsolutepositioningerrorcompensationforthedrillrodofthethreearmrockdrillingjumbo AT luojianli studyonabsolutepositioningerrorcompensationforthedrillrodofthethreearmrockdrillingjumbo AT majiesong studyonabsolutepositioningerrorcompensationforthedrillrodofthethreearmrockdrillingjumbo |