The Dynamic Analysis And Control Of Drilling Manipulator On Roadheader

The comprehensive mining automation is the basis of the modern mines,it is also the important factor effecting the yield of the modern mines, and the bolt system on roadheader technology is the development trend of the comprehensive mining automation. Thus, the research on the dynamic property and the control method of the drilling manipulator on roadheader is of great economic value and social value. Based on the background of the actual condition of the mine tunnels in China, the two-arm bolt drilling manipulator on roadheader is designed whose carrier is the EBZ-160 roadheader, and the research method and the conclusions of the paper provide the theoretical basis for the development of the similar products. The work of the paper are as the follows:The geometric characteristics equations of the pushing mechanism, the uprising-downfall mechanism, the deployable mechanism are established by employing the numerical method, the robust optimal design is performed, and the structure of the manipulator is improved correspondingly.The kinematics equations of the manipulator and the roadheader, and the kinematics model of the bolt drilling manipulator under the influence of the roadheader pose is established based on the D-H method for the first time, the Jacobian matrices for the velocity and the acceleration of the manipulator are derived, and the kinematics performance of the drill of the manipulator is researched under the conditions of the various pitch angles, roll angles, and swing angles.Based on the kinematics equations of the bolt system on roadheader, the kinematics equations of the dirlling manipulator are solved under the different poses of the roadheader. Aiming at the actual tunnel conditions and the bolt support techniques, the segment dividing method is proposed, by which the control strategy of the manipulator is studied.The vibration model of the bolt system on roadheader is established, the time domain characteristics and the frequency domain of the system are analyzed, the vibratin transmission way and the vibration law during the work percess of the drill are researched, and the stability of the drill under the influence of the joint stiffness is also analyzedA kind of multidimensional wavelet neural network is employed. The model of the drilling manipulator based on the wavelet neural network identification is constructed by combining the quantitative learning ability of the neural network and the local control performance of the wavelet base function. The joint motion errors of the manipulator are simulated, and simulation result shows that the static and dynamic performances of the model are perfect.The manipulator prototype is produced based on the mechanism proposed by the paper, and the industrial experiment is performed under the Aiyou mine. The experiment result shows that the bolt support function in the tunnels can be implemented by the manipulator, and the bolt support efficiency is advanced and the work strength is reduced contrasting to the original bolt support techniques.