The Kinematics of 6R-2P Mining Drill Jumbo

作者：Jiang Qimi^*; Ahmed S N

来源：Journal of Mechanisms and Robotics, 2014, 6(3): 034501.

DOI：10.1115/1.4025818

• mining drill jumbo
• redundant manipulator
• inverse kinematics
• pose determination

This work directly solves the inverse kinematics of the 6R-2P drill jumbo with 2 redundant DOFs at the displacement level using theta(1) and h(5) as inputs to avoid solving a nonlinear system. An approach for computing the pose of the end-effector used to drill each hole on the mine face is also proposed.

• 出版日期2014-8