Determining the Stability of a Mobile Manipulator for the Transport and Assembly of Arches in the Yielding Arch Support

The yielding arch support is transported and installed in the face with use of auxiliary machines. These activities underground mining cause many problems, which have as yet not been solved. Currently, transport assembly are carried out manually, using roadheader suspended rail, or various types mounting platforms. analysis structure existing solutions resulted development an original that met requirements Polish mines. Developed jointly by FAMA Sp. z o.o. AGH University Science Technology Krakow, Poland, modular unit (MZT-M) will enable arches face. Additionally, it can also be used to reload works, related work ergonomics coal mining, main energy resource Poland. most important problem solved case this manipulator, due limited space excavation, how ensure its stability during phases operation. Therefore, analyses were find a solution, determining specific conditions design operation manipulator.