Movement Planning and Simulation for Attitude Adjustment of a Drilling Robot

A movement planning method for attitude adjustment of a drilling robot is presented in this paper. The double eccentric discs normal adjustment mechanism is used in the robot to adjust the attitude of the drill axis. To improve the adjustment efficiency, the robot should rotate the eccentric discs to the target point in a most effective way. But there are two available directions and attitudes to rotate, while the anti-trigonometric functions also have two solutions, the key problem of the movement planning is how to choose the optimal solutions from these calculated solutions to rotate the eccentric discs to improve the rotary efficiency. The principle of choosing the solutions is that the eccentric discs should rotate in the minimum absolute angle values to move to the target point. Finally, the movement loci from the initial position and a specific attitude to some different points in different quadrants are simulated in Mat lab to verify the feasibility of the rotary angle calculation method.