基于MATLAB的掩护式支架运动学仿真与实验  

Kinematics Simulation and Experiment Investigation of Shield Powered Support Based on MATLAB

作　　者：袁祥 高飞 廉自生 YUAN Xiang;GAO Fei;LIAN Zi-sheng(College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024;Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan, Shanxi 030024)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024 [2]煤矿综采装备山西省重点实验室,山西太原030024

出　　处：《液压与气动》2021年第11期25-31,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(U1610251);山西省关键核心技术和共性技术研发公关专项(2020XXX003)。

摘　　要：液压支架作为基于二自由度四连杆机构的支护设备,每个结构部件的旋转角度受驱动部件的制约,直接影响顶梁的支护效率和运动轨迹。基于Denavit-Hartenberg(D-H)理论实现了支架各部件在不同坐标系下的位姿转换,建立了液压支架的运动学模型;利用MATLAB软件分析了液压支架的工作空间,融合Alpha Shape理论对支架顶梁运动轨迹进行分析,得到了顶梁工作空间的边界点;分析了立柱、平衡千斤顶的不同长度对顶梁、掩护梁以及后连杆位姿角的影响;通过自主开发的无线感知网络搭建了液压支架的位姿监测系统,并验证了模型的可靠性,为工业应用提供了理论和实践指导。As a four-link mechanism with two degrees of freedom,the rotation angle of each structural component of the hydraulic support is constrained by the driving component.And the moving trajectory of the canopy is affected by the defined structural parameters.The attitude information of each component are obtained by establishing the kinematics model based on Denavit-Hartenberg(D-H)theory.The workspace of the support is obtained by using MATLAB.Alpha Shape theory is used to investigate the movement trajectory of the canopy,and then the boundary points of the canopy are plotted.Finally,analyzing the influence of length of column and equilibrium jack on the angle information of canopy,goaf shield and rear linkage.The attitude monitoring system of hydraulic support is built by self-developed wireless sensing network,and the reliability of the model is verified,which provides theoretical and practical guidance for industrial application.

关 键 词：无线感知网络 运动学模型 支护位姿 工作空间 

分 类 号：TH137[机械工程—机械制造及自动化] TH16