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

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LIU, Youyu ;MA, Liteng ;YANG, Siyang ;YUAN, Liang ;CHEN, Bo .
MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 68, n.9, p. 529-541, august 2022. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/>. Date accessed: 18 apr. 2024. 
doi:http://dx.doi.org/10.5545/sv-jme.2022.15.
Liu, Y., Ma, L., Yang, S., Yuan, L., & Chen, B.
(2022).
MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling.
Strojniški vestnik - Journal of Mechanical Engineering, 68(9), 529-541.
doi:http://dx.doi.org/10.5545/sv-jme.2022.15
@article{sv-jmesv-jme.2022.15,
	author = {Youyu  Liu and Liteng  Ma and Siyang  Yang and Liang  Yuan and Bo  Chen},
	title = {MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {9},
	year = {2022},
	keywords = {Manipulator; Multi-level Transfer Path Analysis; Modal Superposition Method; Vibration Transfer; Force Jacobian Matrix; },
	abstract = {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 from the roof bolter along a manipulator. Based on the multi-level transfer path analysis (MTPA) and modal superposition method (MSM), a vibration transfer model for the subsystem composed of the joints of a manipulator with six degrees of freedom (DOF) was established. Moreover, its frequency response function matrix was also built. The 6-DOF excitation of the roof bolter was deduced. The exciting force on the roof bolter transmitted to the pedestal along the 6-DOF manipulator was analysed with a force Jacobian matrix, to identify the external loading on the pedestal. A case in engineering practice shows that the amplitude of each DOF of the pedestal from large to small is as follows: bending vibration (component 1), longitudinal vibration, torsional vibration, bending vibration (component 2), rotational vibration around z-axis, rotational vibration around y-axis. The pedestal is mainly in the form of bending vibration. The theory of vibration transfer along the 6-DOF manipulator for anchor drilling proposed in this article can provide a theoretical foundation for the development of vibration-damping techniques and the design of absorbers.},
	issn = {0039-2480},	pages = {529-541},	doi = {10.5545/sv-jme.2022.15},
	url = {https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/}
}
Liu, Y.,Ma, L.,Yang, S.,Yuan, L.,Chen, B.
2022 August 68. MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 68:9
%A Liu, Youyu 
%A Ma, Liteng 
%A Yang, Siyang 
%A Yuan, Liang 
%A Chen, Bo 
%D 2022
%T MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling
%B 2022
%9 Manipulator; Multi-level Transfer Path Analysis; Modal Superposition Method; Vibration Transfer; Force Jacobian Matrix; 
%! MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling
%K Manipulator; Multi-level Transfer Path Analysis; Modal Superposition Method; Vibration Transfer; Force Jacobian Matrix; 
%X 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 from the roof bolter along a manipulator. Based on the multi-level transfer path analysis (MTPA) and modal superposition method (MSM), a vibration transfer model for the subsystem composed of the joints of a manipulator with six degrees of freedom (DOF) was established. Moreover, its frequency response function matrix was also built. The 6-DOF excitation of the roof bolter was deduced. The exciting force on the roof bolter transmitted to the pedestal along the 6-DOF manipulator was analysed with a force Jacobian matrix, to identify the external loading on the pedestal. A case in engineering practice shows that the amplitude of each DOF of the pedestal from large to small is as follows: bending vibration (component 1), longitudinal vibration, torsional vibration, bending vibration (component 2), rotational vibration around z-axis, rotational vibration around y-axis. The pedestal is mainly in the form of bending vibration. The theory of vibration transfer along the 6-DOF manipulator for anchor drilling proposed in this article can provide a theoretical foundation for the development of vibration-damping techniques and the design of absorbers.
%U https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/
%0 Journal Article
%R 10.5545/sv-jme.2022.15
%& 529
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 68
%N 9
%@ 0039-2480
%8 2022-08-26
%7 2022-08-26
Liu, Youyu, Liteng  Ma, Siyang  Yang, Liang  Yuan, & Bo  Chen.
"MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling." Strojniški vestnik - Journal of Mechanical Engineering [Online], 68.9 (2022): 529-541. Web.  18 Apr. 2024
TY  - JOUR
AU  - Liu, Youyu 
AU  - Ma, Liteng 
AU  - Yang, Siyang 
AU  - Yuan, Liang 
AU  - Chen, Bo 
PY  - 2022
TI  - MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.15
KW  - Manipulator; Multi-level Transfer Path Analysis; Modal Superposition Method; Vibration Transfer; Force Jacobian Matrix; 
N2  - 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 from the roof bolter along a manipulator. Based on the multi-level transfer path analysis (MTPA) and modal superposition method (MSM), a vibration transfer model for the subsystem composed of the joints of a manipulator with six degrees of freedom (DOF) was established. Moreover, its frequency response function matrix was also built. The 6-DOF excitation of the roof bolter was deduced. The exciting force on the roof bolter transmitted to the pedestal along the 6-DOF manipulator was analysed with a force Jacobian matrix, to identify the external loading on the pedestal. A case in engineering practice shows that the amplitude of each DOF of the pedestal from large to small is as follows: bending vibration (component 1), longitudinal vibration, torsional vibration, bending vibration (component 2), rotational vibration around z-axis, rotational vibration around y-axis. The pedestal is mainly in the form of bending vibration. The theory of vibration transfer along the 6-DOF manipulator for anchor drilling proposed in this article can provide a theoretical foundation for the development of vibration-damping techniques and the design of absorbers.
UR  - https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/
@article{{sv-jme}{sv-jme.2022.15},
	author = {Liu, Y., Ma, L., Yang, S., Yuan, L., Chen, B.},
	title = {MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {9},
	year = {2022},
	doi = {10.5545/sv-jme.2022.15},
	url = {https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/}
}
TY  - JOUR
AU  - Liu, Youyu 
AU  - Ma, Liteng 
AU  - Yang, Siyang 
AU  - Yuan, Liang 
AU  - Chen, Bo 
PY  - 2022/08/26
TI  - MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 68, No 9 (2022): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.15
KW  - Manipulator, Multi-level Transfer Path Analysis, Modal Superposition Method, Vibration Transfer, Force Jacobian Matrix, 
N2  - 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 from the roof bolter along a manipulator. Based on the multi-level transfer path analysis (MTPA) and modal superposition method (MSM), a vibration transfer model for the subsystem composed of the joints of a manipulator with six degrees of freedom (DOF) was established. Moreover, its frequency response function matrix was also built. The 6-DOF excitation of the roof bolter was deduced. The exciting force on the roof bolter transmitted to the pedestal along the 6-DOF manipulator was analysed with a force Jacobian matrix, to identify the external loading on the pedestal. A case in engineering practice shows that the amplitude of each DOF of the pedestal from large to small is as follows: bending vibration (component 1), longitudinal vibration, torsional vibration, bending vibration (component 2), rotational vibration around z-axis, rotational vibration around y-axis. The pedestal is mainly in the form of bending vibration. The theory of vibration transfer along the 6-DOF manipulator for anchor drilling proposed in this article can provide a theoretical foundation for the development of vibration-damping techniques and the design of absorbers.
UR  - https://www.sv-jme.eu/article/mtpa-and-msm-based-vibration-transfer-of-6-dof-manipulator-for-anchor-drilling/
Liu, Youyu, Ma, Liteng, Yang, Siyang, Yuan, Liang, AND Chen, Bo.
"MTPA- and MSM-based Vibration Transfer of 6-DOF Manipulator for Anchor Drilling" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 68 Number 9 (26 August 2022)

Authors

Affiliations

  • Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, China & School of Mechanical Engineering, Anhui Polytechnic University, China 1
  • Technology Department, Wuhu Yongyu Automobile Industry Co., China 2

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 68(2022)9, 529-541
© The Authors 2022. CC BY 4.0 Int.

https://doi.org/10.5545/sv-jme.2022.15

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

Manipulator; Multi-level Transfer Path Analysis; Modal Superposition Method; Vibration Transfer; Force Jacobian Matrix;