机载锚杆机关键副的刚柔耦合动力学特性

Rigid-flexible coupling dynamics analysis of key kinematic pairs of airborne roofbolter

为研究机载锚杆机在矿井实际工况下的动力学特性.利用多体动力学理论建立机载锚杆机的运动坐标系以及正运动方程,利用Pro/E构建机载锚杆机的三维模型;应用ADMAS构建整机刚柔耦合模型,并对各个关键副进行刚柔耦合动力学仿真分析;将结果与基于多刚体动力学分析方法的结果进行对比,得出了机载锚杆机各个关键副在启动、钻孔阶段都存在不同程度上的受力波动,即机载锚杆机在刚柔耦合仿真分析下的受力情况更加接近实际工况的结论 .验证了刚柔耦合动力学仿真分析方法的正确性、先进性,为提高系统稳定性、优化结构提供了一种更有效可行的、更接近实际工况的分析方法.

To research the dynamics characteristic of airbome roofbolter in mine, this paper established the coordinate system of motion and kinematics equation of airborne roofoolter according to the theory of multi-body dynamics, and set up the 3D model of airborne roofbolter by using Pro/E. The rigid-flexible coupling model of airborne roofoolter was built based on ADAMS, and the coupled dynamics analysis of key kinematic pairs was conducted. The result of rigid-flexible coupling analysis was compared with the results based on rigid-body dynamics method. It is concluded that the force on key kinematic pairs all have different degree of stress wave in launch and drilling stage, which means that analysis of stress of airbome roofoolter in the rigid-flexible coupling simulation is more close to actual working condition. It verifies the correctness and advancement of rigid-flexible coupling analysis and it offers a more effective, feasible and practical method to improve the stability of system and optimize structure.