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Abstract: This pr ogram invo lves the stud y of into the robotic development . Applicabilities
the technique of using a micro-computer to of robots into the mining industry are
control a rock drillin g ma chine. This research enormous, namel y , the jumbo drilling robot may
has successfully anal yzed the motion of an be converted into roof-bolting machine and
existing jumbo machine. The kinematic control other mining equipment by simply changing its
equations are established for an y given end-effector. As classified by Copco engineers
geometrical con f iguration. The computer (Berghahl, 1976), the tasks of automated
software has been written to demonstrate its percussion drilling are: feed control, stop
feasibility. The needs of hardware and return, positioning, collaring and tool bit
implementa~ion are also discussed. changing, etc . All these tasks re - grouped
into robotic jargon are: manipulation,
Key words: Mining ma chiner y , mining automation, sensing, and control.
robot application.
In this study, we have analyzed the
Introduction motion of an existing jumbo drilling machine.
The kinematic control equations are developed.
During the last twent y five years, The control variables are solved for any given
percussion rock drilling has been highly geometrical configuration. The computer
developed into mechanization_ The common software implementation has been written to
practices are placing a mobile jumbo drilling demonstrate its feasibility. The needs of
machine on the site to drill blasting holes on hardware implementation are also discussed. It
the rock surface, embedding the holes with is also the author ' s hope that this research
explosives, and then driving away the jumbo may lead mining machinery industries to
machine off the site. After the blast dies contempla t e the construction of the pro t otype.
down, the ore removing or rock mucking follows,
thereby it advances the excavation by repeating Position and Orientation of Drill Head
the same procedures. The procedures are rather
antiquated, and outmoded to the current The position and orientation of a drill
technology, moreover, during the drilling head exactly follows the intended blasting hole
stage, it may encounter the possible on the rock surface. Initially, it is
underground catastrophes such as roof falling, necessary to define the hole position and
gas burst or water gusher. Ironically, the orientation . Fig . 1 shows the three
further step of development in automated drill dimensional picture of a tunnel with holes. For
rig remains unnoticeable among the world the convenience of entering the numerical
leading mining machinery producers . Ten years values which represent the hole's location, the
ago engineers of Atlas-Copco (Berghahl, 1976) X- Y- Z coordinate is established as illustrated
reported that due to economical justification, in the figure . On the rock surface, Z=O, the
technological complexity, maintenance position of hole i is: (Xi' Yi' 0), i =
difficulty, lack of qualified operator, and 1,2, . . • n . Each hole's orientation is decided
complication from the labor resi s tance, the by the blasting pattern designed for the
Swedish mining research was prevented from tunneling face . The inclination of the hole
investing in automated rock drilling. The can be represented by two angles, i . e. the yaw
technological advancements have been
unprecedently surpassin g during the last
decade. Micro-electronics, computers, sensories
and robotics have become readily available at
very modest cost . The control equipment built
by these modern technologies is nearly
trouble-free. The fears of complexity and
maintenance difficult y are no longer critical .
Moreover, the current glut of mineral products
and steep competition from developing
countries have already put the mining industry
into the severe depression. The future
survival of the mining industry has to join
other manufacturing industries under the /
condition "automate or perish". /"
II , Y )
59
60 C. Y. Ho a nd Yao Jianch i
angle a and the pitch angle S which rotate to Gardener-Denver Corp . of West Virginia
about Y-axis and X-axis respectively. For easy for providing the blue print of its MOIOS Jumbo
comprehension to the drilling operators, facing Machine as shown in Fig. 3, which enables us to
the rock surface, the horizontal inclination conduct this research in a realistic manner.
angle U is positive when it turns rightward and
negative when leftward, and the vertical Six coordinate systems are assigned to
inclination angle S is positive when it turns links to this six degrees-of-freedom machine
upward and negative when downward . It is noted according to robotics theory. Fig . 4 shows the
that five dimensional quantities are needed to assignment of coordinate frames of joints at
represent hole's position and orientation . their home positions where all the control
variables have zero values.
During the drilling operation, in order
to suppress the vibrations coming from the Fvr the visual clarity, the dimensions
drill bit, and to make the boom stable and keep are out of the proportionality. The robotic
the drill bit advancing along correct parameters can be tabulated as Table 1: (Ranky
direction, it is necessary to push a stinger and Ho, 1985).
firmly against the rock surface by a hydraulic
cylinder, and to let the drill bit advance 2. Kinematic control equation
along its track. Fig. 2 shows a jumbo drill
machine with a stinger and a drill bit. The Each link is defined by its own
drill bit may rotate about the stinger rod with body-attached coordinate system . The link
angle y . This swivel angle Y , as shown in frame i is related to the link frame i-I by the
Fig . 2, is given to determine the position transformation matrix Ai which can be written
relationship between the drill bit and the as an 4x4 homogeneous matrix and is:
stinger and is measured counter- clockwise as
positive and clockwise as negative when
~OS8i -sin8.cosQ. sine i Sinai
[':"
rotating about the approach vector of the 1 1
COS8 Sina a Sin8
~ "OOO' J
drill. cos8icosa i i i i (1)
Ai i
sina. cosa. d
Further noted that it must need five 1 1 i
dimensional quantities to define the hole's 0 0 1
location and orientation, and another Y angle
to determine the angular relationship between
stinger rod and drill bit. It is therefore
that a six degrees-of-freedom jumbo drilling
manipulator is needed to accomplish the task
of hole drilling .
1. Link relation
..
,
/
/
/I',/Zb
Fig 1. COORDINATE SYSTIMS AND ANGLE BETWEEN STlNC[A AND DRill F.,.. JOINT COORDINATE ASSIGNMENTS AND HOME POSITION Of LINKS
aT
w = AS ' AS
(Z)
pxl
,I, p
( '2)
I Y =
Ip
(6)
.+-3
, 1
A
ax aX ax
(7)
°T
a
N
N
[ ' ay
az
- 0 - -0-
0
Cay
0
az
A
A
ay
az
-0-
;'JP
ay
az
1
and
~
0 A
["'
wx wx . wx
where Si and Ci represent sin 0 i and cos 0 i aT 0 A I P
respectively. wy wy wy . wy
W 1" P
N 0 A
wz wz wz 1 WZ
In this jumbo machine, the total motion - O- 0- - 0- ~ -1"
comprises the arm motion and the wrist motion.
The general equation can be written in the
form: Eq. (8) can be written into partition
matrices
[Total MotionJ [ Arm Motion][Wri5t Moti o n]
[OT ] (8)
6
(9)
I
- - T -
( 'S)
°T a A,A ZA A4 a-p
3
w
op + op
-s, -C,5 Z4
3 a w ( 16)
r , CZ4
,."".-6 """"'1
l5~4
5,C Z4 c, -S,5 Z4 a4c,cZ4 - d3s,5z+a,s, Eq. (16) indicates that the t o tal vect or
( '0 ) from the origin of the base frame to the bit
0 a 45 Z4 +d 3C Z
,
C
Z4 tip is the sum of the arm vector and the wrist
0 0 , vector all with respect to the base frame. It
-l
is 5hown in Fig. 5.
62 C. Y. Ho and Yao Jianchi
OR
a
[',',.
5,c 24
5
24
-5,
c,
0
-""~
-5,5 24
C
24
(25)
"l
x6
a
Rw -
_ [',',
5 C
5 6
56
-C 8
5 6
-5 5
5 6
c
6
~:] (26)
riq s. RElATI(WS B£TW(£N P,. Pw' and P The orthogonality of orientation matrices
gives R-1 = RT, it results:
_ From the figure, it is also seen that the
°Pw vector is composed of a d6 vector and a a6
vector . The d6 vector is along the direction
of approach vector of the drill head, i.e . the
-,
oR! .R
[,,::, s , c 24
c,
':~
ox
oy
direction of (Ax ' Ay, Az ), and the a6 vector is -c,5 24 -s,s24 c
24
oz
along the direction of normal vector, i.e. the
direction (N~. Ny . Nz). It is therefore to
obtain the °Pw vector components with respect
to the fixed base frame as:
[,I: fPl)
f 2(N) f 2(0')
f,(A)l
"(~J (21)
p p - p
a w ( ,8)
('9 ) (28)
(20)
tan
-, A
z
(29)
(21)
Eq. (29) provides the extra rel ationship
along with Eqs. (19) , (20) and (21) to
completely determine the variables 81, 82, d3
These three Eqs. (19), (20) and (21)
and 84' Again further examing the ma trices in
contain four unknown variables 81, 82' d3 and
Eqs. (26) and (27), a nd equating elements (1,3)
84' One more equation is needed in order to
and (2,3) the y give
obtain the solution. However the 81 is readily
obtained from Eqs. (19) and (20). ~'C 24A x'S' C24Ay'524A2,s5
tan
-, p
-p-
ax
6, (22)
ax
thus
Let's look into the orientation relation
between the arm and the wrist. Eq. (15) shows: -, c'C24Ax'5,s24A y,s24Az (30)
6 ' tan
5 s,A x - ClAy
(23)
R Equating elemen ts (3 ,1 ) and (3,2) the y
give:
It is therefore
(3' )
aR ' °R-'R (24)
w a
Eqs. (10) and (ll) gives the orientation Rearranging Eqs. (19) and (21), it
matrices as: results:
Automated Jumbo Drilling Robot Manipulator 63
~ ~
It is readily to obtain
[;
0 0 0 0
P cS -sS
ax 0 Yh
-, c, sS cS
'J
tan 0 I 0
0 0 I 0 0
0
0
c(1300-u)
0 !1
s( -)
0
0
c( -':) 0
0
0
1
0
1]
-cosY so
<36 )
"J
0
1
(37)
Z~ [~I O~ ~O ~ _~~
o o 0
6 6 +6 tan
-, A
z
0
24 2 4 C,Ax+S,A y o Xb 0 \ 0 0, 0 0' 0 0
o -Y
b
0 0 0' 0 0 ,
P o o o
6 tan
-, a 4c 24 +a , - ax
2 cl
l
Paz -a s
4 24 ~~ ~ -~ :~I
o 0 -y
(38)
b
6 6 -6 o 0 0 I
4 24 2
0
-I
0
0
-I
0 Xb
,,]
0 0 -Y
b
and 0 0 0 I
Hardware Consideration
I
! ~
subjects in designing a fully automated
dr illing rig . It is impossible to cover all L- I
the facets of design in a single presentation.
Never t heless, based on our experience in
designing other mining equipment, we present Fig 7, ASSICNED ANGLE r B£TWEEN STINGER AND HOU
the hardward implementation in a suggestible
manner .
1 1 1 -15 - 15
2 8 1 0 -20
3 15 1 15 - 15
4 1 8 -15 0
5 7 8 15 0
6 9 8 -15 0
7 15 8 15 0
8 8 6 0 0
9 8 10 0 0
10 2 15.2 -5 15
11 8 17 0 20
12 14 15.2 5 15
Hole 01 02 d3 0 4 05 06
(degree) (degree) (feet) (degree) (degree) (degree)
3. Ho, C.Y. and K.W. Copeland, (1982) 4. Benson, B., (1985) "Rotary and Linear
"Solution of Kinematic Equations for Robot Electrohydraulic Stepping Actuators" MTS
manipulators", Digital system for Industrial Systems Corporation, Minneapolis, MN . Company
Automation, Vol I, No.4 PP. 335-352. Monograph .