针对煤矿巷道永久支护工艺装备落后，作业人员偏多，操作环境恶劣，安全风险严竣等问题，以本团队研发的智能掘进机器人系统为基础，提出一种可实现自动“抓-运-装-卸”钻杆和锚杆，自动完成支护作业的钻锚装置。旨在提升煤矿巷道支护自动化水平，降低井下工人劳动强度，加快实现煤矿巷道永久支护智能化。

通过对井下实际钻锚需求的分析，针对煤矿巷道支护过程中工人劳动强度大，安全性低等问题，提出两六自由度机械臂与四自动钻机协同钻锚装置总体方案，建立了三维模型，制定了协同作业工艺。

依据协同钻锚装置的工作原理和功能要求，设计了协同钻锚装置总体结构，并完成了钻锚操作平台、自动钻机机构、钻锚材料输送机构等关键零部件的设计。分析了钻锚平台各工况下的受力特点，针对平台结构，进行了静力学分析，并应用ANSYS Workbench 软件对其进行仿真验证，表明结构设计的合理性。

分析了机械臂及钻机的作业特点，给出了D-H参数表，求解得出机械臂及钻机的正运动学数学方程。同时假设目标位姿已知的情况下，利用代数法和MATLAB robotic工具箱完成了机械臂的逆运动学解算，得出与之相关的各个关节运动参数的表达式，验证了机械臂正逆解的正确性。采用蒙特卡洛随机数法对整个机械臂及钻机末端工作空间进行了分析，证明机械臂及钻机在可运动的空间下，能够完成钻锚材料的运输任务及打钻支护任务，验证了机械臂与钻机空间布局的合理性。

针对机械臂在工作中的平稳性及准确性问题，建立了运动系统的动力学方程。通过ADSMS软件建立了机械臂的虚拟样机模型，并对其进行了动力学仿真，得出了机械臂大臂回转关节的驱动力矩曲线。使用Matlab软件对机械臂动力学方程进行计算，并给出了机械臂大臂回转关节的力矩曲线。通过两个曲线的对比，得出理论曲线与仿真曲线无明显偏差，且变化趋势相同，验证了动力学分析的正确性。

针对机械臂在有限空间、复杂环境下高效完成物料“抓-运-装-卸”任务问题，根据安装钻杆工艺需求，设计了机械臂与钻机协同作业策略。通过MATLAB仿真得到机械臂运动过程各关节变量，并在ADAMS建立自动钻锚装置的虚拟样机模型，使用MATLAB得出的关节变量作为驱动函数对机械臂装卸钻杆的过程进行了仿真分析，结果表明在装卸钻杆过程中机械臂各关节的角度变化在设计的范围之内，钻杆质心移动平稳。由此可见，本文设计的钻锚装置能够高效完成对钻杆和锚杆的稳定准确“抓-运-装-卸”。

In response to issues such as outdated permanent support technology and equipment for coal mine tunnels, excessive number of workers, harsh operating environment, and severe safety risks,Based on the intelligent excavation robot system proposed by our team, proposed a drilling and anchoring device that can automatically "grasping-transporting-loading-un- loading" drill pipes and anchor rods, and complete support operations,The aim is to improve the automation level of coal mine tunnel support, reduce the labor intensity of underground workers, and accelerate the realization of permanent support intelligence in coal mine tunnels.

By analyzing the actual demand for drilling and anchoring underground, and addressing the issues of high labor intensity and low safety of workers in the support process of coal mine tunnels,The overall scheme of the cooperative drilling and anchoring device of the two six degree of freedom manipulator and the four automatic drill is proposed, the three-dimensional model is established, and the cooperative operation process is formulated.

Based on the working principle and functional requirements of the automatic drilling anchor device, the overall structure of the automatic drilling anchor device was designed, and key components such as the drilling anchor operation platform, automatic drilling rig mechanism, and drilling anchor material conveying mechanism were designed.The force characteristics of the drilling anchor platform under various working conditions are analyzed. For the platform structure, a statics analysis is carried out, and the ANSYS Workbench software is used to simulate and verify it, indicating the rationality of the structural design.

This thesis analyzes the operation characteristics of the manipulator and the drill, gives the D-H parameter table, and solves the forward kinematics mathematical equations of the manipulator and the drill.At the same time, assuming that the position and pose of the target are known, the inverse kinematics of the manipulator is solved by using the algebraic method and the MATLAB robot toolbox, and the expressions of the relevant joint motion parameters are obtained, which verifies the correctness of the forward and inverse solutions of the manipulator.The Monte Carlo random number method was used to analyze the entire working space of the robotic arm and the end of the drilling rig, proving that the robotic arm and the drilling rig can complete the transportation and drilling support tasks of drilling anchor materials in a movable space, and verifying the rationality of the spatial layout of the robotic arm and the drilling rig.

A dynamic equation of the motion system has been established to address the stability and accuracy issues of the robotic arm during operation.A virtual prototype model of the robotic arm was established using ADSMS software, and dynamic simulation was conducted to obtain the driving torque curve of the rotating joint of the robotic arm.Use Matlab software to calculate the dynamic equations of the robotic arm and provide the torque curve of the rotating joint of the robotic arm.By comparing the two curves, it was found that there was no significant deviation between the theoretical curve and the simulation curve, and the trend of change was the same, verifying the correctness of the dynamic analysis.

A collaborative operation strategy between the robotic arm and the drilling rig was designed based on the process requirements of installing drill pipes to efficiently complete the task of "grasping-transporting-loading-unloading" of materials in limited space and complex environments.Obtain joint variables during the motion process of the robotic arm through MATLAB simulation, and establish a virtual prototype model of the automatic drilling anchor device in ADAMS,The joint variables obtained from MATLAB were used as driving functions to simulate and analyze the process of loading and unloading drill pipes by the robotic arm. The results showed that the angle changes of each joint of the robotic arm were within the designed range during the loading and unloading process, and the center of mass of the drill pipe moved smoothly.From this, it can be seen that the drilling and anchoring device designed in this article can efficiently and accurately complete the stable and accurate "grasping, transporting, loading, and unloading" of the drill pipe and anchor rod.

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