Optimization of multijoint robot motion of hydraulic drilling vehicle based on ant colony algorithm

Abstract:

Hydraulic rock drilling rig plays an important role in modern tunneling construction. The existing hydraulic drilling rig is completed by the operator when locating the hole position. The order of locating holes and the time to search holes is not optimized, which results in time waste and low efficiency. In view of the above problems, in this paper, the multinode motion and the time of locating hole path of long arm multijoint intelligent rock drill are optimized for large tunnel section and complex hole system. The innovative research is as follows: by the rock drilling tunnel form and excavation mode analysis, as well as the explosion hole parameters setting, a collisionfree planning is proposed for the left and right manipulator drilling tasks. At the same time, the total change time of each joint variable of the multijoint manipulator is used as the optimization objective function. The ant colony algorithm is used to optimize the objective function, and the optimized hole finding path with the shortest hole positioning time is obtained, which improves the positioning and finding efficiency of the hydraulic rock drilling rig mechanical arm.