Technical Brief

The Kinematics of 6R-2P Mining Drill Jumbo

[+] Author and Article Information
Qimi Jiang

Mining Technologies International Inc.,
Greater Sudbury, ON P3A 4R8, Canada
e-mail: qimi.jiang@hotmail.com

S. N. Ahmed

Mining Technologies International Inc.,
Greater Sudbury, ON P3A 4R8, Canada;
Laurentian University,
Greater Sudbury, ON P3E 2C6, Canada
e-mail: sahmed@laurentian.ca

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 29, 2012; final manuscript received July 18, 2013; published online April 11, 2014. Assoc. Editor: Delun Wang.

J. Mechanisms Robotics 6(3), 034501 (Apr 11, 2014) (4 pages) Paper No: JMR-12-1066; doi: 10.1115/1.4025818 History: Received May 29, 2012; Revised July 18, 2013

This work directly solves the inverse kinematics of the 6R-2P drill jumbo with 2 redundant DOFs at the displacement level using θ1 and θ5 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.

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Grahic Jump Location
Fig. 4

The drill jumbo inside the mine

Grahic Jump Location
Fig. 5

The relationship of coordinate systems

Grahic Jump Location
Fig. 1

The kinematics chain of 6R-2P drill jumbo (home configuration)

Grahic Jump Location
Fig. 2

The holes on the mine face

Grahic Jump Location
Fig. 3

The direction of hole i in the mine frame




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