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  • MTPA- and MSM-based vibration transfer of 6-DOF manipulator for anchor drilling
    Liu, Youyu ...
    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.
    Source: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 68, no. 9, Sep. 2022, str. 529-541, SI 70)
    Type of material - article, component part
    Publish date - 2022
    Language - english
    COBISS.SI-ID - 124249603

    Link(s):

    https://www.sv-jme.eu/sl/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/
    Repository of the University of Ljubljana – RUL
    Digitalna knjižnica Slovenije - dLib.si
    DOI

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