双三角钻臂具有结构紧凑、运行平稳、凿岩无盲区等优点，被凿岩机器人所采用。

With the advantage of compact structure, stable motion and no blind rock drilling area, double triangle boom is used in rocking drilling robot.

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分配了CAN总线智能节点及其功能，设计了适合于凿岩机器人实时性要求的CAN总线用户协议。

Assigns functions of intelligent nodes, and designs the CAN-bus user protocol for real time demand of rock drilling robot control system.

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