A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF plan...A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).展开更多
"Riding mining" is a form of mining where the working face is located above the roadway and advances parallel to it.Riding mining in deep soft rock creates a particular set of problems in the roadway that in..."Riding mining" is a form of mining where the working face is located above the roadway and advances parallel to it.Riding mining in deep soft rock creates a particular set of problems in the roadway that include high stresses,large deformations,and support difficulties.Herein we describe a study of the rock deformation mechanism of a roadway as observed during riding mining in deep soft rock.Theoretical analysis,numerical simulations,and on site monitoring were used to examine this problem.The stress in the rock and the visco-elastic behavior of the rock are considered.Real time data,recorded over a period of 240 days,were taken from a 750 transportation roadway.Stress distributions in the rock surrounding the roadway were studied by comparing simulations to observations from the mine.The rock stress shows dynamic behavior as the working face advances.The pressure increases and then drops after peaking as the face advances.Both elastic and plastic deformation of the surrounding rock occurs.Plastic deformation provides a mechanism by which stress in the rock relaxes due to material flow.A way to rehabilitate the roadway is suggested that will help ensure mine safety.展开更多
基金Project(20102304120007) supported by the Research Fund for the Doctoral Program of Higher Education of ChinaProject(QC2010009)supported by the Natural Science Foundation of Heilongjiang Province, China+1 种基金Projects(20110491030, LBH-Z10219) supported by China Postdoctoral Science FoundationProject(HEUCF120706) supported by the Fundamental Research Funds for the Central Universities of China
文摘A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).
基金Supported by the National Natural Science Foundation of China (Nos. 50834005 and 51074163)the Ministry of Education Support Program for New Century Excellent of China(No. NCET-08-0837)+1 种基金the Fundamental Research Funds for the Central Universities of ChinaYouth Science and Technology Foundation of China University of Mining and Technology(No. 2010QNB25)
文摘"Riding mining" is a form of mining where the working face is located above the roadway and advances parallel to it.Riding mining in deep soft rock creates a particular set of problems in the roadway that include high stresses,large deformations,and support difficulties.Herein we describe a study of the rock deformation mechanism of a roadway as observed during riding mining in deep soft rock.Theoretical analysis,numerical simulations,and on site monitoring were used to examine this problem.The stress in the rock and the visco-elastic behavior of the rock are considered.Real time data,recorded over a period of 240 days,were taken from a 750 transportation roadway.Stress distributions in the rock surrounding the roadway were studied by comparing simulations to observations from the mine.The rock stress shows dynamic behavior as the working face advances.The pressure increases and then drops after peaking as the face advances.Both elastic and plastic deformation of the surrounding rock occurs.Plastic deformation provides a mechanism by which stress in the rock relaxes due to material flow.A way to rehabilitate the roadway is suggested that will help ensure mine safety.
