Analysis on working space and movement trajectory of working mechanism for mine roadway repair machine

In order to study the movement features of the working mechanism during the working process of the mine roadway repair machine and to solve the movem ent interference problems between the working boom and scraper device occurred in the actual operation,based on the spinor kinematics theory,the positive solution and in verse solution kinematics models of the working mechanism in the mine roadway repair machine was established. The Matlab software was applied to calculate the workin g space of the working mechanism and two step changes of the related oil cylinders during boom raising operation of working boom would be direct causes of movement in, terferences occurred. An analysis was conducted on the movement trajectory of the working mechanism in mine roadway repair machine and each oil cylinder extension va lue of the working boom. An inclined gathering movement of the working boom was provided to solve the movement interferences. The results of underground mine site tes t showed that the solution could effectively improve the operation and control of the mine roadway repair machine and could reduce the probability of the movement interfer ences. The study results could provide references to the optimized design and intelligent control of the working mechanism in mine roadway repair machine.