Design and simulation analysis of end-support robot's manipulator arm
SHI Huawei
HE Jiacong
LI Zhong
WANG Xiaozhi
Abstract：At present,in the underground comprehensive mining face roadway,a semi-mechanized and semimanual handling mode is used for the transportation and support of individual pillars,which is inefficient and highly dangerous.Firstly based on the underground roadway environment and support requirements,the manipulator arm structure of the end-support robot was designed,researched,and 3D modeled;then,a rigid body dynamics model of the manipulator arm was established using Adams software,and force analysis was con-ducted on its various components under extreme working conditions;finally,finite element simulation and strength verification of each component of the manipulator arm were conducted using Ansys software.The results showed that the maximum stress in each component of the end-support robot's manipulator arm was 147.1 MPa,and the maximum deformation was 0.675 mm,both of which met the design requirements and laid the foundation for the control and trajectory planning of the manipulator arm.
Keywords：end-supportmanipulator armrigid body dynamics(RBD)single prop
Publication Date：2024-08-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 80-84,90 )