基于时间冲击最优的TBM换刀机器人轨迹规划

陶治同,陶建峰,覃程锦,刘成良

Trajectory planning of TBM disc cutter changing robot based on time-jerk optimization

Zhi-tong TAO,Jian-feng TAO,Cheng-jin QIN,Cheng-liang LIU

表 1 换刀机器人的DH表

Tab.1 DH table of disc cutter changing robot

i $a{\text{/mm}}$ $\alpha {\text{/} }(^{\circ})$ $d{\text{/mm}}$ ${\rm{offset}}/{\rm{mm}}$ $\theta {\text{/} }(^{\circ })$ 1 0 0 0~3480 0 0 2 0 0 0~390 1147 0 3 0 0 364 0 −90~90 4 0 −90 0 0 −30~90 5 0 90 0~460 1204 0 6 0 0 0 0 −45~45 7 0 −90 0 0 −90~75 8 0 90 764 0 −90~90