MTPA- and MSM-based vibration transfer of 6-DOF manipulator for anchor drilling

Liu, Youyu (author), Ma, Liteng (author), Yang, Siyang (author), Yuan, Liang (author), Chen, Bo (author)

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.

• Language: English
• Keywords: manipulators, multi-level transfer path analysis, modal superposition method, vibration transfer, force jacobian matrix
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Publication date: 01.09.2022
• Year: 2022
• Number of pages: Str. 529-541
• Numbering: Vol. 68, no. 9
• PID: 20.500.12556/RUL-141697
• UDC: 534.1
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2022.15
• COBISS.SI-ID: 124249603
• Publication date in RUL: 05.10.2022

Record is a part of a journal

• Title: Strojniški vestnik
• Shortened title: Stroj. vestn.
• Publisher: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Title: Uporaba metod MTPA in MSM za analizo prenosa vibracij po manipulatorju za vrtanje sidrnih vrtin s 6 prostostnimi stopnjami
• Keywords: manipulatorji, stroji za sidranje, večstopenjska analiza prenosne poti, metoda modalne superpozicije, prenos vibracij, Jacobijeva matrika sil

Projects

• Funder: Other - Other funder or multiple funders
• Funding programme: Special Fund for Collaborative Innovation of Anhui Polytechnic University & Jiujiang District
• Project number: 2021CYXTB3

• Funder: Other - Other funder or multiple funders
• Funding programme: Natural Science Research Project of Higher Education of Anhui Province of China
• Project number: KJ2020A0357