Abstract: In order to overcome the problems of low reliability and the mismatch of service life among of the pin row, flat sliding boots and guidance sliding boots of the shearer,based on the virtual prototype technology,the shearer rigid- flexible coupling dynamics model is set up,which includes the pattern characteristics of the middle slot of the scraper, the rocker flexible deformation characteristics,the contact friction characteristics between the flat sliding boots and the middle slot,the gap-included contact collision characteristics between the guiding sliding boots and the pin row,and the contact meshing characteristics between the driving wheels and the pin row. The model simulation is performed by taking the roller experimental load as the stimulus. The results show that under the experimental load stimulus,the load of the left flat sliding boot is bigger than that of the right in y direction,the average loads of the left and the right are 198. 2 kN and 78. 2 kN,in z direction are -20. 0 kN and -16. 5 kN;the average loads of the left and the right guid- ance sliding boots in y direction are 42. 0 kN and 45. 2 kN,in z direction are 289. 9 kN and 270. 1 kN. The simulation results are validated by experiment,the force variation laws of sliding boots under different pitching angles and lateral angles are analyzed by applying the simulation model,and that provides a basis for the mechanic characteristics research of shearer under different working conditions.