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Yuming CUI, Songyong LIU, Zhengqiang SHU, Zhenli LV, Lie LI. Positioning-error prediction and compensation for the multi-boom working mechanism of a drilling jumbo[J]. Journal of Zhejiang University Science A, 1998, -1(-1): .
@article{title="Positioning-error prediction and compensation for the multi-boom working mechanism of a drilling jumbo",
author="Yuming CUI, Songyong LIU, Zhengqiang SHU, Zhenli LV, Lie LI",
journal="Journal of Zhejiang University Science A",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2300594"
}
%0 Journal Article
%T Positioning-error prediction and compensation for the multi-boom working mechanism of a drilling jumbo
%A Yuming CUI
%A Songyong LIU
%A Zhengqiang SHU
%A Zhenli LV
%A Lie LI
%J Journal of Zhejiang University SCIENCE A
%V -1
%N -1
%P
%@ 1673-565X
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2300594
TY - JOUR
T1 - Positioning-error prediction and compensation for the multi-boom working mechanism of a drilling jumbo
A1 - Yuming CUI
A1 - Songyong LIU
A1 - Zhengqiang SHU
A1 - Zhenli LV
A1 - Lie LI
J0 - Journal of Zhejiang University Science A
VL - -1
IS - -1
SP -
EP -
%@ 1673-565X
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2300594
Abstract: A rock-drilling jumbo is the main piece of tunneling equipment used in the energy and infrastructure industries in various countries. The positioning accuracy of its drilling boom greatly affects tunneling efficiency and section-forming quality of mine roadways and engineering tunnels. In order to improve the drilling-positioning accuracy of a three-boom drilling jumbo, we established a kinematics model of the multi degree-of-freedom (DOF) multi-boom system, using the improved Denavit-Hartenberg (D-H) method, and obtained the mapping relationship between the end position and the amount of motion of each joint. The error of the inverse kinematics calculation for the drilling boom is estimated by an analytical method and a global search algorithm based on particle swarm optimization (PSO) for a straight blasting hole and inclined blasting hole. On this basis, we propose a back-propagation (BP) neural network optimized by an improved sparrow search algorithm to predict the positioning error of the drilling booms of a three-boom drilling jumbo. In order to verify the accuracy of the proposed error-compensation model, we built an automatic-control test platform for the boom, and carried out a positioning-error compensation test on the boom. The results show that the average drilling-positioning error was reduced from 9.79 cm to 5.92 cm, and the error was reduced by 39.5%. Therefore, the proposed method effectively reduces the positioning error of the drilling boom, and improves the accuracy and efficiency of rock drilling.
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