The Dynamic Analysis Of Computer Drill Jumbo Boom

It is the precise control,good handling,good quality of the tunnel that make Computer Drill Jumbo becomes the main construction equipment in the modern tunnel construction. As the main working device of Drill Jumbo the Boom play a role in positioning and supporting. The speed, accuracy and flatness of positioning have a greater impact on the speed of tunnel construction.After discussing the process of positioning though the kinematic and dynamic analysis of Boom,this thesis have some significance to to achieve fast, accurate and stable positioning of the boom.At the same time this thesis also verify the supporting capability of Boom,The Boom is able to withstand any static and cyclic loads. These analyzes contribute to the design and optimization of the drill Boom. The specific work is as follows:Firstly the three-dimensional model of boom is established based on certain type of Drill Jumbo,which is the basis of further analysis. Kinematics and dynamics equations are created by the using of the D-H method and Newton-Euler method.we can get some helpful information to intelligent control and fast, accurate positioning of the boom though the discussions of kinematics forward and inverse solution, the distribution of the work space,joint space trajectory planning, hinge point of force (torque) curve.Secondly virtual prototyping of boom is set up to do some kinematics and dynamics simulation of Boom positioning and drilling.It the consistency of the results get from simulation in adams and calculation of kinematics and dynamics equations in matlab prove the correction of theoretical equation and virtual prototype simulation.The joint forces come form dangerous conditions simulation provide the lords for finite element analysis.Finally this thesis do some static and modal analysis based on finite element model.Static analysis aim at checking the strength and stiffness of boom in dangerous condition,at the same time drawing the stress graph to prepare for the structural optimization.Modal analysis is for the purpose of getting its natural frequency and vibration shape which are requirement of choosing external excitation frequency such as rock drill.It also get something which needed in follow-up analysis such as transient dynamics, Harmonic dynamics prepared.