20.500.12556/RUL-141697 MTPA- and MSM-based vibration transfer of 6-DOF manipulator for anchor drilling Uporaba metod MTPA in MSM za analizo prenosa vibracij po manipulatorju za vrtanje sidrnih vrtin s 6 prostostnimi stopnjami 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. manipulators multi-level transfer path analysis modal superposition method vibration transfer force jacobian matrix manipulatorji stroji za sidranje večstopenjska analiza prenosne poti metoda modalne superpozicije prenos vibracij Jacobijeva matrika sil true false true Angleški jezik Slovenski jezik Članek v reviji 2022-10-05 14:07:13 2022-10-05 14:07:19 2022-10-06 03:50:34 0000-00-00 00:00:00 2022 0 0 Str. 529-541 no. 9 Vol. 68 Sep. 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 2022-09-01 534.1 0039-2480 10.5545/sv-jme.2022.15 124249603 Liu_..._-_MTPA-_and_MSM-based_vibration_transfer_of_6-DOF_manipulator_for_anchor_drilling.pdf Liu_..._-_MTPA-_and_MSM-based_vibration_transfer_of_6-DOF_manipulator_for_anchor_drilling.pdf 1 80F58B5CF2BDF6D795BE8B9786E01A18 8c918f0e72f11f3c229da3b697a05e190a80faa722e6ee86af3fb17fea4322cb 8ea35f8e-44a6-11ed-9c94-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=162810 https://www.sv-jme.eu/sl/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/ 1 3f894d6f-44a6-11ed-9c94-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=162809 Fakulteta za strojništvo Strojniški vestnik 0 0 0