掘进机机载钻孔机械手多体动力学分析

为研究机械手在钻孔工作过程中的动力学响应情况，建立机械手的刚柔耦合动力学数学方程，再以有限元法和多体动力学软件为基础，建立机载钻孔机械手的刚柔耦合动力学模型。以钻头工作过程中的随机工作阻力为载荷，研究伸缩臂的大刚度小变形与钻杆的小刚度大变形对机械手的动态性能的影响。通过对比仿真结果可知，钻杆、伸缩臂的柔性变形对钻头的运动精度影响很大，但其对钻头的速度、加速度影响相对较弱。研究结果表明，利用刚柔耦合模型，能够有效模拟机械手在钻孔过程中的动力学响应过程，为机械手的智能控制研究提供依据。

Multi body dynamics analysis on drilling manipulator of roadheader

In order to study the dynamic response of the manipulator in drilling process，the rigid flexible coupling dynamics mathematical equations of the manipulator were formulated.Based on the finite element method and the multi body dynamics software，a rigid flexible coupling dynamic model of the manipulator mounted on roadheader was developed.Furthermore，taking the random work resistance in bit’s working process as a load，the effects on the dynamic response of the manipulator from the large stiffness with small deformation of telescopic boom and the small stiffness with large deformation of drill pipe were investigated respectively.By comparing the simulation results，the effect of the flexible deformation of drill pipe and manipulator on motion precision of bit is great impact，but on speed，acceleration of bit is relatively weak.The results show that the dynamic response of the manipulator in drilling process can be simulated efficiently using the rigid flexible coupled model developed，which can provide the basis for the manipulator intelligent control.