The Kinematic And Dynamic Analysis Of Steel Support Manipulator

The main methods for the construction of mountain tunnel is drilling and blasting method in China. In order to ensure construction safety, steel roof arches must be installed in the construction of weak surrounding rock tunnels. Installing steel arches by manpower is the most popular method at present in China. This method is difficult to satisfy the requirements of rapid construction of tunnels. It is necessary to design a special machine which is called the steel support machine used for conveying and installing steel arches in tunnels. The steel support manipulator is the key working device. Its structure has a great influence on the overall performance; the manufacture cost and use cost. So it is necessary to make a deep study on the steel support manipulator. Based on the analysis of the tunnel construction condition and the installation requirements, this paper proposes the design scheme of the steel support machine. The kinematics and dynamics of the steel support manipulator are investigated in this paper. The main work of this paper is as follows:Firstly the characteristics of the existing machines are compared and analyzed. According to the installation requirements of steel arches in our country, the design scheme of the steel support machine is proposed. Its structural composition and working principle are introduced. The model of the steel support manipulator is created in SolidWorks, which is the basis of further analysis.Secondly according to the structure features of the manipulator, its kinematics equation is built by D-H coordination system. Monte-Carlo method is applied to simulating the workspace of the manipulator with Matlab program language.Thirdly this paper analyzes the dynamics of the steel support manipulator by the iterative Newton-Euler scheme. The steel support manipulator’s virtual prototyping model is established with ADAMS software, and to carry on the kinematics and dynamics simulation analysis. The dynamically leveling angle curve of the leveling mechanism is obtained through the simulation analysis. Curves of cylinders’driving force and the joint force are also derived. The results of simulation analysis provide theoretical basis for the finite element analysis and the designs of cylinders of the steel support manipulator.Finally the finite element model of the manipulator’s telescopic boom is established with COSMOSWorks software, and to carry on the static analysis. The strength and stiffness of the telescopic boom in dangerous condition are checked according to the result of the static analysis. The result lay the foundation for follow-up study such as structural optimization and design improvement of the manipulator.