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

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

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.

• Jezik: Angleški jezik
• Ključne besede: manipulators, multi-level transfer path analysis, modal superposition method, vibration transfer, force jacobian matrix
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Datum objave: 01.09.2022
• Leto izida: 2022
• Št. strani: Str. 529-541
• Številčenje: Vol. 68, no. 9
• PID: 20.500.12556/RUL-141697
• UDK: 534.1
• ISSN pri članku: 0039-2480
• DOI: 10.5545/sv-jme.2022.15
• COBISS.SI-ID: 124249603
• Datum objave v RUL: 05.10.2022

Gradivo je del revije

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

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Naslov: Uporaba metod MTPA in MSM za analizo prenosa vibracij po manipulatorju za vrtanje sidrnih vrtin s 6 prostostnimi stopnjami
• Ključne besede: manipulatorji, stroji za sidranje, večstopenjska analiza prenosne poti, metoda modalne superpozicije, prenos vibracij, Jacobijeva matrika sil

Projekti

• Financer: Drugi - Drug financer ali več financerjev
• Program financ.: Special Fund for Collaborative Innovation of Anhui Polytechnic University & Jiujiang District
• Številka projekta: 2021CYXTB3

• Financer: Drugi - Drug financer ali več financerjev
• Program financ.: Natural Science Research Project of Higher Education of Anhui Province of China
• Številka projekta: KJ2020A0357