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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.

FIGURES IN THIS ARTICLE
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References

Fink, B., Hiller, M., Krolls, H., and Schweikart, S., 1996, “Concepts of an Advanced Cartesian Control System for a Redundant Twin Boom Drill Rig,” The 13th International Symposium Automation Robotics Construction, Tokyo, Japan, June 11–13, pp. 103–112.
Li, Y., and Leong, S., 2004, “Kinematics Control of Redundant Manipulators Using CMAC Neural Network Combined With Genetic Algorithm,” Robotica, 22(6), pp. 611–621. [CrossRef]
De Schutter, J., De Laet, T., Rutgeerts, J., Decre, W., Smits, R., Aertbelien, E., Claes, K., and Bruyninckx, H., 2007, “Constraint Based Task Specification and Estimation for Sensor Based Robot Systems in the Presence of Geometric Uncertainty,” Int. J. Robot. Res., 26(5), pp. 433–455. [CrossRef]
Antonelli, G., Indiveri, G., and Chiaverini, S., 2009, “Prioritized Closed Loop Inverse Kinematic Algorithms for Redundant Robotic Systems With Velocity Saturations,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct. 10–15, pp. 5892–5897. [CrossRef]
Wang, J., Li, Y., and Zhao, X., 2010, “Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm,” Int. J. Adv. Rob. Syst., 7(4), pp. 1–9. [CrossRef]
Tsai, L., 2009, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons Inc., New York, pp. 91–109.

Figures

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

Grahic Jump Location
Fig. 4

The drill jumbo inside the mine

Grahic Jump Location
Fig. 5

The relationship of coordinate systems

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