Kinematics analysis of roadheader’s working mechanism based on differential geometry

To improve the forming quality of cutting cross-section and reduce the effect of uncertain factors on the auto- mation control of excavation technology. The kinematic relationships of roadheader’ s main working mechanisms were investigated. Taking the EBZ160 roadheader as an example,the kinematics model of the roadheader’s working mecha- nisms was established based on the differential geometry theory. Subsequently,the Newton iteration method was used to solve the kinematics equation and the motion responses of each component were simulated using Matlab programs. The results show that the computations of trigonometric function and inverse matrix can be avoided by using the differential geometry method,which is conducive to simplifying the derivation process and reducing the computational difficulty. The simulated trajectory of the cutting pick is consistent with the actual cutting path during horizontal swing cutting, indicating that this method is feasible for studying the movement rule of the roadheader. Under the action of multiple drivers,there is a noticeable correlativity between the z-linear velocity component of the rotary center of cutting head and the rotational angular velocity of rotary table. Additionally,the amplitudes of cutting pick’s acceleration responses have an apparent change only in the x direction.