煤矿机械

以矿山爆破可移动机械臂为研究对象，对可移动机械臂结构与控制系统进行设计。首先，考虑到可移动机械臂在复杂路面上行驶的灵活性和机械臂抓取与放置雷管安全性要求，利用SolidWorks软件针对性设计具有AGV腿足结构和雷管开合结构的可移动机械臂；其次，基于ROS设计可以协同上部机械臂和下部AGV的可移动机械臂控制系统，实现机械臂和AGV协同作业。该研究可为矿山爆破作业提供一种稳定、安全、高效的解决方案，具有一定的工程应用与推广价值。

Taking the mobile robotic arm for mining blasting as the research subject, designed the structure and control system of the mobile robotic arm. Firstly, considering the flexibility of the mobile robotic arm to travel on complex terrains and the safety requirements for grabbing and placing detonator,a targeted design for the mobile robotic arm with AGV leg-foot structure and detonator opening-closing structure was developed by using SolidWorks software. Secondly, based on ROS, a control system for the mobile robotic arm was designed to coordinate the upper robotic arm and the lower AGV, enabling collaborative operation of the robotic arm and AGV. The research provides a stable, safe and efficient solution for mining blasting operation, with certain engineering application and promotional value.