Kinematic Analysis And Design Of A Tunneling Mechanism Based On A Novel 4-Dof Parallel Manipulator

At present, series structure is mostly used in the tunneling mechanism of the existing Boom-style Road-headers. The parallel tunneling mechanism hasn't been reported yet. Therefore, this paper designs a new kind of parallel tunneling mechanism, and provides new products for the Boom-style Road-headers.The layout feature of the parallel tunneling mechanism of Boom-style Road-headers is present, and the DOF and the reverse position also are derived. By using the inverse kinematics equations which were established and the architecture constraints, its workspace is investigated. The effects of the structure parameters to the workspace volume are studied quantitatively. Finally a batch of structure parameters is chosen.Through the relation between the input variable and the output variable of the mechanism, the mathematical models of the velocity and the mechanics are established. The bearing capacity is analyzed. The velocity and the mechanics Jacobian matrix are solved. The isotropy evaluation criteria of the kinematics and mechanics transmission are defined. The distribution of the defined evaluation criteria is presented by using MATLAB.The model of the tunneling mechanism and the virtual prototype of the Boom-style Road-headers are designed, and then the kinematics simulation is done by using PRO/E.By using the mathematical models of the mechanics, the intensity and the rigidity of the important accessories in the tunneling mechanism are calculated, and the dimensions of the accessories are ascertained.