0
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
<>
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

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. 5

The relationship of coordinate systems

Grahic Jump Location
Fig. 4

The drill jumbo inside the mine

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In