Motion of triangle boom on rock drilling robot
                                                            ZHU Jian xin1,2, LUO Nan an1, ZHOU Xuan yi1,2, GAO Jing1
（1.College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China;2.R&D Center, Sunward Intelligent Equipment Co., Ltd., Changsha 410100, China）


Abstract: Aiming at the difficulty of precise motion control of the triangle boom of the rock drilling robot, the motion decoupling analysis of the mechanical structure of the triangle boom was carried out.Firstly, the complete kinematic equations of the multi closed chain triangle boom were established by D H coordinate method. The mathematical model of the boom motion position and the length of hydraulic cylinder was constructed. Then, based on the motion characteristics under the constraint of the specific structure of the rock drilling manipulator , a relatively simple mathematical model was constructed by using the geometric analysis method.At the same time, the general control flow of the triangle boom movement was put forward.Finally, a case calculation was given to analyze the two different model results and verify with the threedimensional model of the triangle boom under the same conditions.The results indicate that the motion mathematical model established by the motion decoupling analysis is correct, which built the foundation for the precise positioning control of the rock drilling boom.
Key words: rock drilling robot; triangle boom; space geometry; motion research