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Shock and Vibration
Volume 2018 (2018), Article ID 2387408, 18 pages
Research Article

Multifactor Analysis of Roadheader’s Body Pose Responses during the Horizontal Cutting Process

School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, China

Correspondence should be addressed to Kai Zong; moc.361@1991dwiakgnoz

Received 19 October 2017; Revised 31 January 2018; Accepted 25 February 2018; Published 4 April 2018

Academic Editor: Longjun Dong

Copyright © 2018 Kai Zong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Based on the Lagrange equation in system dynamics, aiming at the horizontal cutting process, the dynamical coupling model of boom-type roadheader’s body pose was established. According to input problem of solving the model, a calculation method of the cutting head load was proposed, and the relationship between the cutting head load and pressure of the driving cylinders and swing angle of the cutting arm was obtained through simulating analysis. The simulation model was established to solve the dynamical coupling model. The cutting head load, horizontal swing angle of the cutting arm, and dip angle of coal seam were regarded as independent variables to perform changing parameter analysis in variations of the body pose. The field experiment was carried out, and the measured data is basically consistent with the simulation values. The results show that lateral displacement of the body can reach up to 6.5 cm, backward displacement can reach up to 5.2 cm, floor-based quantity can reach up to 11 cm, pitch angle of the body can reach up to 7.8°, and roll angle can reach up to 2.1°. Variations of the body pose parameters are influenced greatly by the cutting head load, while the influence from horizontal swing angle of the cutting arm and dip angle of coal seam is slighter. Among the pose parameters, floor-based quantity and pitch angle of the body vary relatively greatly, which tend to seriously influence forming quality of the roadway and should be mainly considered in deviation rectification of the roadheader’s body pose.