CAJ | 학술논문

为了实现双臂钻车的自动化打孔，对其进行运动学分析和优化计算。优化计算的目的是要找到液压钻臂各个关节的合适的角度位置，能够在钻车工作时实现确定的位姿。采用粒子群算法在MATLAB环境下计算并得出最优解，结果证明粒子群算法能有效解决两臂钻车的运动学计算。为了方便操作和审核，建立了用户界面并生成了.exe文件，从而为钻车自动化打孔奠定了技术基础。
위료실현쌍비찬차적자동화타공，대기진행운동학분석화우화계산。우화계산적목적시요조도액압찬비각개관절적합괄적각도위치，능구재찬차공작시실현학정적위자。채용입자군산법재MATLAB배경하계산병득출최우해，결과증명입자군산법능유효해결량비찬차적운동학계산。위료방편조작화심핵，건립료용호계면병생성료.exe문건，종이위찬차자동화타공전정료기술기출。
In order to realize drilling holes automatically by a two-arm drilling manipulator,its direct kinematics analysis was done. The aim of optimization was to find the right position and orientation of the arm by which they could realize the position and ori-entation of the drill demanded on the drilling work. An optimization program of the PSO algorithm in the MATLAB environment was de-veloped and the optimal calculation was done. The result proves the validity of the PSO based algorithm for the inverse kinematics of the 2-arm drilling manipulator. In order to facilitate the operation and audit,the user interface was set up and. exe files were made,so as to lay foundation for drilling holes automatically.