MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling

An anchor drilling for a coal mine support system can liberate an operator from heavy work, but will cause serious vibration, which willbe transmitted to the pedestal roof bolter along manipulator. Based on multi-level transfer path analysis (MTPA) and modal superposition method (MSM), vibration model subsystem composed of joints manipulator with six degrees freedom (DOF) was established. Moreover, its frequency response function matrix also built. The 6-DOF excitation deduced. exciting force analysed Jacobian matrix, identify external loading pedestal. A case in engineering practice shows that amplitude each DOF large small is as follows: bending (component 1), longitudinal torsional 2), rotational around z-axis, y-axis. mainly form vibration. theory proposed this article provide theoretical foundation development vibration-damping techniques design absorbers.