多关节凿岩机械手在工作时，完成的是一个在一定工作面上随机的钻孔孔序任务，其孔序规划相当复杂。
The bore sequence of every working face is random to the multi joint rock drilling manipulator, so the bore task planning is very complicated.
应用特征线方法，提出了一般冲击机械的波动力学数值计算方法，给出了一液压凿岩机械的数值模拟结果。
Numerical method is proposed for general mechanical impact systems by means of characteristic line theory . Simulation results of hydraulic rock drill are provided .
本研究系采用微型计算机、波形存贮器等技术装备组成了凿岩机械冲击能、冲击频率、行程、压力等工作参数的微机测试系统。
The system consists of microcomputer and transient wave converter etc For the measurement of working parameters of drilling machine such as impact energy or frequency, stroke and pressure.
应用推荐