MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling

Abstract

An anchor drilling for a coal mine support system can liberate an operator from heavy work, but will cause serious vibration, which willbe transmitted to the pedestal from the roof bolter along a manipulator. Based on the multi-level transfer path analysis (MTPA) and modal superposition method (MSM), a vibration transfer model for the subsystem composed of the joints of a manipulator with six degrees of freedom (DOF) was established. Moreover, its frequency response function matrix was also built. The 6-DOF excitation of the roof bolter was deduced. The exciting force on the roof bolter transmitted to the pedestal along the 6-DOF manipulator was analysed with a force Jacobian matrix, to identify the external loading on the pedestal. A case in engineering practice shows that the amplitude of each DOF of the pedestal from large to small is as follows: bending vibration (component 1), longitudinal vibration, torsional vibration, bending vibration (component 2), rotational vibration around z-axis, rotational vibration around y-axis. The pedestal is mainly in the form of bending vibration. The theory of vibration transfer along the 6-DOF manipulator for anchor drilling proposed in this article can provide a theoretical foundation for the development of vibration-damping techniques and the design of absorbers.

Analysis of drilling vibration characteristics of anchoring system in coal mine

“…Jun et al solved the problem of dynamic model uncertainty caused by time-varying internal parameters and external loads in hydraulic servo systems, and optimized and reconstructed the structure and motion coefficient parameters of the robotic arm 14 . Liu et al established a vibration transfer model for the joint subsystem of a six degree of freedom robotic arm based on multiple transfer path analysis (MTPA) and modal superposition method (MSM), and obtained the amplitude of each degree of freedom of the support 15 . Liu et al can predict the position of rock interface by collecting displacement data during rock drilling and establishing drilling speed models and longitudinal vibration models 16 .…”