Journal
STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING
Volume 68, Issue 9, Pages 529-541Publisher
ASSOC MECHANICAL ENGINEERS TECHNICIANS SLOVENIA
DOI: 10.5545/sv-jme.2022.15
Keywords
manipulator; multi-level transfer path analysis; modal superposition method; vibration transfer; force Jacobian matrix
Categories
Funding
- Special Fund for Collaborative Innovation of Anhui Polytechnic University & Jiujiang District
- Natural Science Research Project of Higher Education of Anhui Province of China
- [2021CYXTB3]
- [KJ2020A0357]
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Based on multi-level transfer path analysis and modal superposition method, this study established a vibration transfer model for the subsystem with six degrees of freedom (DOF) of a manipulator. The analysis of the exciting force transmitted to the pedestal showed that the pedestal primarily experiences bending vibration.
An anchor drilling for a coal mine support system can liberate an operator from heavy work, but will cause serious vibration, which will be 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.
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