Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face
ABSTRACT This study introduces a dynamic pose analysis method for advanced hydraulic supports, driven by the hydraulic cylinder stroke. This method plays a crucial role in the precise control and path planning of the supports. Based on the closed‐loop mechanical structure, the advanced hydraulic sup...
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| Format: | Article |
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Wiley
2025-08-01
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| Series: | Energy Science & Engineering |
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| Online Access: | https://doi.org/10.1002/ese3.70139 |
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| author | Zhang Kun Ma Kailun Zhang Zhaoyun Cui Bin Xu Yajun Wei Xuntao Chen Yong Zhang Zengbao Kong Xiangjun Chen Hongyan Tian Dan Yi Ran Du Mingchao |
| author_facet | Zhang Kun Ma Kailun Zhang Zhaoyun Cui Bin Xu Yajun Wei Xuntao Chen Yong Zhang Zengbao Kong Xiangjun Chen Hongyan Tian Dan Yi Ran Du Mingchao |
| author_sort | Zhang Kun |
| collection | DOAJ |
| description | ABSTRACT This study introduces a dynamic pose analysis method for advanced hydraulic supports, driven by the hydraulic cylinder stroke. This method plays a crucial role in the precise control and path planning of the supports. Based on the closed‐loop mechanical structure, the advanced hydraulic support was modeled as a 10‐degree‐of‐freedom robotic arm, driven by the left and right leg cylinders. Given the time‐sharing driving characteristics, the support was analyzed under two distinct scenarios: those driven by the left and right hydraulic cylinders. A forward kinematic model was established using an improved Denavit–Hartenberg (MD‐H) parameter method, and a joint angle‐following model was geometrically constructed. By integrating these models, a comprehensive pose analysis framework was developed, which allows for the derivation of the mapping relationship between cylinder strokes and the overall support pose. To validate the proposed model, simulations were conducted for 20 lifting cases to calculate the motion relationships between cylinder strokes and joint angles, followed by corresponding experimental tests. The experimental results demonstrated that the pose error was less than 1.31% and the position error was below 0.27%. These findings confirm that the model accurately reflects the mapping between hydraulic cylinder strokes and the overall pose of the support. Lastly, a motion relationship equation was derived, linking cylinder strokes to the roof pitch angle. This equation provides an intuitive representation of the mapping between active joints and the overall support pose. |
| format | Article |
| id | doaj-art-c6b41e7063444c8e9069e8f7d6c8889f |
| institution | Kabale University |
| issn | 2050-0505 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | Energy Science & Engineering |
| spelling | doaj-art-c6b41e7063444c8e9069e8f7d6c8889f2025-08-20T03:41:43ZengWileyEnergy Science & Engineering2050-05052025-08-011383919393410.1002/ese3.70139Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining FaceZhang Kun0Ma Kailun1Zhang Zhaoyun2Cui Bin3Xu Yajun4Wei Xuntao5Chen Yong6Zhang Zengbao7Kong Xiangjun8Chen Hongyan9Tian Dan10Yi Ran11Du Mingchao12Shandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University Science and Technology Qingdao ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University Science and Technology Qingdao ChinaProduction technology Department Yankuang Energy Co. Ltd. Jining ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University Science and Technology Qingdao ChinaTiandi Technology Co. Ltd. Beijing ChinaProduction technology Department Yankuang Energy Co. Ltd. Jining ChinaProduction technology Department Yankuang Energy Co. Ltd. Jining ChinaQinghai Energy Development (Group) Co. Ltd. Xining ChinaQinghai Energy Development (Group) Co. Ltd. Xining ChinaLiaoning University of Engineering and Technology Fuxin ChinaXinwen Mining Group (Yili) Energy Development Co. Ltd., Mine No. 1 Yili ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University Science and Technology Qingdao ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology Shandong University Science and Technology Qingdao ChinaABSTRACT This study introduces a dynamic pose analysis method for advanced hydraulic supports, driven by the hydraulic cylinder stroke. This method plays a crucial role in the precise control and path planning of the supports. Based on the closed‐loop mechanical structure, the advanced hydraulic support was modeled as a 10‐degree‐of‐freedom robotic arm, driven by the left and right leg cylinders. Given the time‐sharing driving characteristics, the support was analyzed under two distinct scenarios: those driven by the left and right hydraulic cylinders. A forward kinematic model was established using an improved Denavit–Hartenberg (MD‐H) parameter method, and a joint angle‐following model was geometrically constructed. By integrating these models, a comprehensive pose analysis framework was developed, which allows for the derivation of the mapping relationship between cylinder strokes and the overall support pose. To validate the proposed model, simulations were conducted for 20 lifting cases to calculate the motion relationships between cylinder strokes and joint angles, followed by corresponding experimental tests. The experimental results demonstrated that the pose error was less than 1.31% and the position error was below 0.27%. These findings confirm that the model accurately reflects the mapping between hydraulic cylinder strokes and the overall pose of the support. Lastly, a motion relationship equation was derived, linking cylinder strokes to the roof pitch angle. This equation provides an intuitive representation of the mapping between active joints and the overall support pose.https://doi.org/10.1002/ese3.70139advanced hydraulic roof supportcase study calculationexperimental verificationimproved D–H parameter methodpose analysis |
| spellingShingle | Zhang Kun Ma Kailun Zhang Zhaoyun Cui Bin Xu Yajun Wei Xuntao Chen Yong Zhang Zengbao Kong Xiangjun Chen Hongyan Tian Dan Yi Ran Du Mingchao Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face Energy Science & Engineering advanced hydraulic roof support case study calculation experimental verification improved D–H parameter method pose analysis |
| title | Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face |
| title_full | Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face |
| title_fullStr | Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face |
| title_full_unstemmed | Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face |
| title_short | Research and Experimental Verification of the Dynamic Pose Analysis Method of Advanced Hydraulic Support in a Fully Mechanized Mining Face |
| title_sort | research and experimental verification of the dynamic pose analysis method of advanced hydraulic support in a fully mechanized mining face |
| topic | advanced hydraulic roof support case study calculation experimental verification improved D–H parameter method pose analysis |
| url | https://doi.org/10.1002/ese3.70139 |
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