virtual simulation analysis of rigid-flexible coupling

Research ArticleVirtual Simulation Analysis of Rigid-Flexible CouplingDynamics of Shearer with Clearance

Hongyue Chen12 Kun Zhang 1 Mingbo Piao1 XinWang 1

JunMao 12 and Qiushuang Song3

1School of Mechanical Engineering Liaoning Technical University No 88 Yulong Road Xihe District Fuxin CityLiaoning Province 123000 China2China National Coal Association Dynamic Research for High-End Complete Integrated Coal Mining Equipment andBig Data Analysis Center No 88 Yulong Road Xihe District Fuxin City Liaoning Province 123000 China3China Coal Energy Company Limited (China Coal Energy) No 1 Huangsi Street Chaoyang District Beijing City 100120 China

Correspondence should be addressed to Kun Zhang zhangkunliaoning163com

Received 30 October 2017 Revised 4 February 2018 Accepted 20 February 2018 Published 4 April 2018

Academic Editor Mario Terzo

Copyright copy 2018 Hongyue Chen et alThis is an open access article distributed under the Creative Commons Attribution Licensewhich permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited

Amodel for virtual simulation analysis of the rigid-flexible coupling of a shearer has been developedwith the objective of addressingproblems associated with lifetime mismatch and low reliability of pin rows of a scraper conveyor and the corresponding supportmechanism of a shearer Simulations were performed using the experimental roller load as stimulus Results of the analysisdemonstrate that the vertical cutting force on the roller serves to reduce the load on the plane support plates during shearer cuttingand the force on the right plane support plate is considerably smaller compared to that on the left plane support plate along thedirection of motion of the shearer Owing to action of the roller-traction load loads acting on the two guiding support platesincrease significantly along the direction of shearer motion Mechanical characteristics of the support mechanismwere determinedthrough experiments and the accuracy of the virtual simulation model was verified Simultaneously mechanical characteristics ofthe shearer support mechanism were studied under varying pitch and roll angles This study was performed to provide a base foranalyzing the mechanical characteristics as well as optimizing the structural design of the shearer Through fatigue-life analysis ofthe support plate and subsequent optimization of the support plate structure the life of the guide support plate was found to havebeen extended by approximately 15 times

1 Introduction

Coal reserves count as one of the most widely used energyresources in the world Commonly used equipment in coalmining includes the shearer scraper conveyor and hydraulicsupport Equipment and machinery employed in the miningof coal have been a subject of intense research in variouscountries in recent years Efremenkov et al [1] studied factorsresponsible for the deterioration of Russian coal miningequipment technology as well as the negative impact of coalmining on the environment Simon et al [2] investigated thereliability of the main transport system of the Svea coal minein Svalbard Norway and compiled the equipment main-tenance report for the year 2010 demonstrating an annualutilization of 9644 of the six major conveyors The report

prescribed further improvement in equipment reliability toreduce the risk of failures Korski et al [3] evaluate theeffectiveness and usefulness of mining machinery employedin the Polish hard coal industry through use of an OEE(Overall Equipment Effectiveness) indicator

Shearers comprise mining equipment widely used at theface of a coal mine [4 5] and the plane and guiding supportplates constitute main connecting parts between the shearerand scraper conveyor Performance of the guiding supportplates directly determines the service life of the shearer andscraper conveyor [6]

Coal seam development inside a coal mine is usuallycharacterized by a gradient that governs the roll and pitchingangles of the working face With changes in these roll andpitch angles the force acting on the guiding support plates

HindawiShock and VibrationVolume 2018 Article ID 6179054 18 pageshttpsdoiorg10115520186179054

2 Shock and Vibration

undergoes corresponding changes thereby causing impactand abrasion between guiding support plates and the pin rowThe pin row correspondingly produces a large reaction forceon the guide hook of the guiding support plates An extremelylargemagnitude of this forcemay result in failure of the guidehook or pin row thereby affecting the stability and reliabilityof operation of the shearer and scraper conveyor [7] Inaddition during oblique cutting of a coal wall by means of ashearer owing to line-shape bending of the scraper conveyorthe friction and impact forces acting between the inner side ofthe support mechanism and the scraper pin row undergo anincrease thereby resulting in cracking or pin breakage of thesupportmechanism [8 9]Therefore an understanding of themechanical properties of the shearer and scraper conveyoris important while addressing the abovementioned issuesconcerning the support mechanism and pin damage

Problems encountered during operation of miningmachinery have been investigated in detail by engineersand researchers in the past Zachura and Zuczek [10] devel-oped an innovative Flextrack system capable of limiting thedevelopment of large pressing stresses between cooperatingsurfaces of the drive wheel and tooth gear (according toHertz) Advanced toothed gear systems designed in thisway enable one to overcome the horizontal and verticalinclinations of the conveyor route upon which the shearermoves This in turn serves to increase the operational life ofdrive wheels thereby significantly reducing the maintenancetime under dangerous operating conditions Chen et al [11]devised a mechanical model representing the entire shearerassembly operating under the oblique cutting conditionThey also derived and evaluated forces of interaction actingbetween the support mechanism and two pin rows of acoal mining machine by means of finite element analysisAdditionally they determined the fatigue risk point for ascraper pin row through fatigue-life analysis of support platesand scraper pin row Liu andDai [12] used the comprehensivemethod of preestimation and state judgment to develop themechanical model of a shearer Chen et al [13] proposed useof a mechanics-based model for the entire shearer assemblydeveloped using the deformation compatibility equationThe loads acting on left and right driving rollers evaluatedthrough experiments were provided as input to the modeland the stepwise discriminant method was used to solve themodel numerically thereby obtaining the loads acting onthe walking support part during the cutting operation of theshearer Liu et al [14] established a mechanical model andstate equation for the shearer based on structural parametersassociated with a coal mining machine the correspondingoperating parameters and the roll angle of a coal seamThe superposition algorithm was used to numerically solvethe model Shen et al [15] suggested analyzed and verifiedimprovements in the operation of support plates of a shearerassembly using the finite element method The improvedsupport plates were applied to actual operation in a coalmine and good results were achieved Lu [16] used the finiteelement method to analyze the operation of shearer supportplates The concentrated stress caused by virtual constraintswas removed maximum stress acting at the support plateswas obtained and the stress concentration in support plates

was evaluated and analyzed to increase their strength AGCr13 gasket was added to improve the wearing resistanceof the support plates Chen et al [17] used the descriptionof stiffness and damping of plane support plates in accor-dance with Hertz contact theory and established a 7-degree-of-freedom dynamic model of the shearer based on theLagrange dynamics equationThey used a numerical methodto solve for vibration characteristics of the shearer modelunder different haulage speeds Zhang et al [18] derived therelationship between the direction of the supporting forceon each support plate and coefficient matrix of the staticequation of the shearer the equation was solved using theGaussndashJordanmethod Liu andTian [19] used the least squareand generalized inverse methods to solve for the force changelawof the support plates of a shearer under different operatingconditions Wang [20] used the virtual prototype technologyfor meshing the shearer driving wheel and scraper conveyorpin row for simulation They used two different theoriesto calculate contact stresses for the shearer driving wheeland scraper conveyor pin row Chen et al [21] devised anonlinear model to describe the action between the shearerdriving wheel and scraper pin row under clearance using gearmeshing They used the Kulun friction model to describethe sliding friction between the supporting mechanism ofthe shearer and scraper conveyorThe Newmark method wasused to solve the equation Zhou et al [22]made us of a virtualprototype developed using the ANASYSLS DYNA technol-ogy to simulate and analyze dynamic meshing characteristicsof an involute shearer walking mechanism and type III pinrail Zhou et al [23] established a dynamic model of the trac-tion part of a shearer Concurrently the dynamic reliabilityevaluation of a transmission system under load was studiedbased on the sequential statistic theory Liu and Luo [24]established a test platform for the walking mechanism of thetraction part a shearer The mechanism was studied experi-mentally using the 3-point test method and rules of vibrationgoverning the walking mechanism were obtained Liu et al[25] analyzed wear failure forms of the support plates of ashearer and optimized the support plate performance usingplasma cladding with Cr4MnTi Hong and Gong [26] useda reciprocating pin on a disc of Fe (21 wt)ndashCr (5wt)ndashBalloy under the dry sliding condition and performed thefrictionwear test through use of awear-testingmachineTheyperformed a comparative analysis with conventional supportplate manufacturing materials and observed that the wearresistance of support plate manufacturing materials can bemuch improved through use of their proposed approachTheabove extant studies have primarily focused on theoreticalanalysis and have not performed a combined experimental-numerical analysis

The proposed study adopts the virtual prototype tech-nology to establish a rigid-flexible coupling model whilstconsidering the test load on the shearer drum as stimulusThe model includes line shape of the middle trough of ascraper conveyor Impact characteristics of the shearer guid-ing support plates and pin row clearance contact-frictioncharacteristics of the plane support plates andmiddle troughmeshing characteristics of the driving wheel and pin rowflexible characteristics of the shearer rocker arm and lastly

Shock and Vibration 3

mechanical characteristics of the guiding and plane supportplates have been simulated and analyzed in this study Inaddition the results obtained via simulations have beenverified through experiments and underlying mechanismsof the guiding and plane support plates have been examinedThis provides a basis for structural optimization and lifespanprediction of the walking part of the shearer as well as a basisfor investigating mechanical properties of the entire shearerassembly under various operating conditions

2 Scraper Conveyor Line Shape

Under actual operating conditions there exists a relative6-degree-of-freedom pose between two adjacent middletroughs owing to uneven fluctuations in the coal floor anderrors in the movement of the middle trough To facilitateconstruction of a simulation model of the scraper conveyorit was assumed that the bottom surface of the roadwaybelow the scraper was rigid and the effect of external forceson the middle trough posture was negligible The line-shape function of the scraper conveyor could therefore beexpressed as

SHAPE = [1198821 1198822 sdot sdot sdot 119882119899] (1)The center of the first middle trough was coordinated as

the coordinate origin as such 119882119894 119894 = 1 sdot sdot sdot 119899 119894 representcoordinate exchanges for the first middle trough

Dynamic characteristics of the shearer when performingthe linear cutting operation have been investigated Owingto relatively small magnitudes of the rotation angles betweenadjacent central troughs under actual operating conditionstheir influence on the shape of the scraper line was neglectedin order to simplify the model The position of each middletrough could then be determined based on its actual workingposition

3 The Proposed Virtual Model andCorresponding Boundary Conditions

31 Model Simplification and Hypothesis The MG5001180shearer and SGZ10001050 scraper models were consideredas research objects The ProE CAD software was used todesign central models of the shearer and scraper conveyorwhich were then saved in the step entity format in RecurDynBecause the size of a fully mechanized mining face isconsiderably large and since there exist several parts in a coalmining machine we applied the following processing stepsand hypotheses to the model prior to simulation(1) To reduce the size of the simulation model three-

dimensional models of the shearer and 11 parts of the middletrough of the scraper conveyor were developed(2) In the shearer model all parts except the left and right

rockers were designed as rigid bodies(3)Nomodel for the transmission systemwas established

only its quality attributes were set in the rocker arm Inaddition only quality attributes of the hydraulic and electric-control systems were set within the fuselage(4) Regardless of the influence of elastic deformation of

the hydraulic rod placed between walkingmechanisms of the

left and right shearers and electric-control box the electric-control box was integrated within the housing of the left andright shearer walkingmechanisms and considered part of thefuselage(5) Other than the connection clearance between the

guiding support plates and pin row and that between adjacentmiddle troughs all clearances in other parts of the modelwere assumed to be zero(6) Any friction caused by relative motion between pairs

of surfaces was neglected except for the guiding supportplates plane support plates and scraper conveyor contactfriction(7) It is assumed that there exists no relative motion

between the two middle troughs during shearer operation(8)The coal face roll and pitch angles (120597 120573) were assumed

zero(9)The walking direction of the shearer was represented

by 119885 while the converse direction of the vertical scraperconveyor was represented by 119884

32 Flexible Treatment of Rocker Arm Flexible treatment ofthe rocker arm was executed in RecurDyn using FFlex andaccomplished by means of the following steps(1)TheMesher grid division tool in the FFlexmodule was

used to divide the rocker arm(2)Themaximum andminimum grid sizes were set as 50

and 10mm respectively(3) Solid4 was selected as the entity unit type and unit

material properties corresponding to those of isotropic steelwere set(4) The inner wall of the mounting hole at the joint

between the rocker arm and fuselage pin shaft was definedas Patch 1 It serves to connect the fuselage pin shaft betweenthe flexible surface and cylindrical contact Correspondinglythe inner wall of the mounting hole at the joint betweenthe rocker arm and lifting cylinder pin shaft was defined asPatch 2 thereby serving to connect the lifting cylinder pinshaft between the flexible surface and cylindrical contactTherocker and drum connected to the surface were consideredrigid surfaces Slave and master nodes were created at endfaces of the rocker and roller connections to ensure efficienttransmission of the roller force to the rocker arm

33 Motion Constraints Motion constraints of connectionsbetween components in the virtualmodel are listed in Table 1

34 Definition of Contact The shearer was supported by leftand right guiding support plates as well as left and rightplane support plates on the middle trough of the scraperconveyor and the walking operation was accomplished bycoordinated operation of the driving wheel and pin rowDuring the combined walking and cutting process of theshearer collision and friction exist between plane supportplates and middle trough guiding support plates and pinrow and the driving wheel and pin row In the RecurDynvirtual model the contact between the driving wheel andpin row has been defined to be of the solid-solid type whilethat between lower end faces of plane support plates and


Table 1 Motion constraints

Part 1 Part 2 ConstraintFuselage Left and right rocker arm pin shafts Fixed pairLeft and right rocker arm pin shafts Left and right rocker arm Rigid-flexible surface contactLeft and right rocker arm Left and right rollers Revolute pairFuselage Left and right lifting cylinder rod pin shafts Revolute pairLeft and right rocker arm Left and right lifting cylinder pin shafts Rigid-flexible surface contactLeft and right lifting cylinder rod Left and right lifting cylinder Translating pairFuselage Left and right guiding support plate pin shafts Fixed pairLeft and right plane support plate pin shafts Left and right guiding support plates Revolute pairFuselage Left and right plane support plates pin shafts Fixed pairLeft and right plane support plate pin shafts Left and right plane support plates Revolute pairLeft and right guiding support plate pin shafts Left and right driving wheels Revolute pairPin row Scraper middle trough Fixed pairScraper middle trough Ground Fixed pair

Driving wheel

Upper contact surfaceGuiding

support plate

Right contact surface

Left contact surface

Lower contact surface

D1

D2

(a)

P lane support plate

Contact surfaceMiddle trough

Pin shaft

(b)

FuselageRocker arm

Left drumRight drum

Scraper conveyor

V

(c)Figure 1 Definition of various contact surfaces (a) The guiding support plate contacts the pin row (b) The plane support plate contacts themiddle trough (c) The proposed rigid-flexible coupling model

middle trough has been defined to belong to the surface-surface type In addition contact between the upper lowerleft and right sides of the guiding support plates and those ofthe pin row is also of the surface-surface type as depicted inFigure 1 In Figure 11198631 and1198632 represent gap values betweenguiding support plates and the pin row in the vertical andhorizontal directions respectively values of 1198631 and 1198632 are18 and 26mm respectively

In RecurDyn calculation of contact forces is based on

119891119899 = 1198961205751198981 + 119888

1205751003816100381610038161003816100381612057510038161003816100381610038161003816

100381610038161003816100381610038161205751003816100381610038161003816100381611989821205751198983 (2)

where 119896 denotes the contact stiffness coefficient 119888 representsdamping coefficient 1198981 1198982 and 1198983 represent the contact

rigidity index damping and dent indices respectively and 120575denotes the penetration depth

Friction is calculated by setting appropriate values for thestatic (120583119904) and dynamic (120583119889) friction coefficients

The abovementioned parameters are to be set in accor-dance with the relevant size and material of the shearer andscraper conveyor Through several simulations values of11989811198982 and1198983were determined as 102 11 and 133 respectivelyValues of other parameters are listed in Table 2 [27]

35 Definition of Load During shearer operation in thelinear cut state the definition of load primarily includesthe three-direction resistance of cutting picks of the leftand right drums and the corresponding drum torque In


Table 2 Contact surface parameters

Contact position 119896 119888 119906119904 119906119889Driving wheel and pin row 35 times 109 72 times 105 021 018Plane support plates and middle trough end face 134 times 1011 26 times 106 021 018Guiding support plates and upper contact surface of the pin row 82 times 1010 125 times 106 021 018Guiding support plates and lower contact surface of the pin row 42 times 1010 62 times 105 021 018Guiding support plates and left contact surface of the pin row 75 times 1010 101 times 106 021 018Guiding support plates and right contact surface of the pin row 102 times 1011 215 times 106 021 018

Table 3 Parameters of interest for drum-type shearer

Drum parameters Roller width (mm) Hub diameter (mm) Drum diameter (mm) Helix angle (∘) Number of bladesValue 1000 680 2000 25 3

this study the experimental load on the drums was usedas stimulus Structural parameters of interest to the drumshearer used during experiments conducted in this study arelisted in Table 3 A typical test system for evaluating the three-direction resistance of cutting picks is depicted in Figure 2(a)A wireless strain acquisition module is installed at the end ofthe screw blade of the drum (the tail close to the rocker side)as depicted in Figure 2(a) A welding strain gage is installedat the end of the cutting pick and the adjacent wireless strainacquisition module is accessed through a wire The rollertorque is measured by means of an idler axle pin sensorinstalled on the sixth idler axle and all data are collected usingthe wireless strain acquisition module

Once the system begins to collect relevant data thewireless strain acquisition module stores the collected dataand transmits the same by means of a wireless gateway-basedtransmission facility The data signals are finally transmittedto a computer via a wireless communication converter [2829] The sampling frequency is 100Hz and approximately50000 data points are collected Data processing has beenoptimized in order to efficiently handle the large amountof data involved and average values of parameters areconsidered after every 25 sampling points Over the dura-tion of the cutting operation of the shearer (approximately50 s) 2000 resistance load values each for the left andright drums are selected as depicted in Figures 2(b) and2(c)

36 Definition of Driver The proposed model was able toachieve a stable walking speed of 4mmin at an elapsed timeof 3 s after initiation of the shearer operation Driving speedsof the left and right driving wheels could be determinedbased on the diameter of the dividing circle of the shearerdriving wheel According to the reference diameter of shearerdrive wheel is 0815m and the speeds of the front andthe rear drive wheel are set to step(time 0 0 d 3 938 d) +step(time 3 0 d 53 0 d) Driving speeds of the left and rightdrums are obtained as follows step(time 0 0 d 3 168 d) +step(time 3 0 d 53 0 d)

The coal cutting height was set as 3m In accordance withthe size of the shearerrsquos structure elongations of the left andright lifting cylinders of the shearer could be determined As

the proposed model was created using ProE and the cuttingheight was set as 3m the extension was set to 0 in RecurD-yn

The simulation exercise was completed in 53 s the firstthree seconds of which constitute the initial or start-up stageof the machine During operation in this phase the workingresistance of the two drums is zero The normal cuttingoperation of the shearer lasted 50 s between 3 and 53 s Loadswere imposed in accordancewith the data depicted in Figures2(b) and 2(c) Drum loading data generated over the entireduration of the simulation were collated and imported intoRecurDyn to generate curves corresponding to11986511990911198651199092 (rightand left drum axial load)11986511991011198651199102 (right and left drum cuttingload) 1198651199111 1198651199112 (right and left drum traction load) and 1198791 and1198792 (right and left drum torque load) The above curves wereloaded using the AKISPL function The complete simulationmodel is depicted in Figure 1(c)

4 Simulation Results and Analysis

41 Analysis of Forces Acting on Plane Support Plate PinShafts Time histories of forces acting along the 119884 and 119885directions on the support plate pin shaft in the left plane aredepicted in Figures 3(a) and 3(b) respectively During thestart-up phase of the shearer (0ndash3 s) no load was appliedon the drums and the average load on the pin shaft in thealong direction was measured as 2252 t During the periodof actual cutting operation (3ndash53 s) loads were applied onthe drums and the average load (119865HLY) during this phasewasmeasured to be approximately 1974 t implying a decreaseof 278 t compared to the start-up phase The mean valueof the load acting on the pin shaft along the 119885 direction(119865HLZ) was approximately minus421 t during the start-up phaseits corresponding value during the actual cutting operationwas 199 t that is a decrease of 222 t

Time histories of forces acting along the 119884 and 119885directions on the support plate pin shaft in the right planeare depicted in Figures 3(c) and 3(d) respectively Averageforces acting along the 119884 direction (119865HRY) measured 1809 tand 732 t respectively during the start-up and actual cuttingphases of the shearer thereby demonstrating a decrementof 1077 t during the actual cutting phase Corresponding


Strain measuring torsion stress

Strain gage

Wireless acquisition module

MotorMotor

output gear

Drum

Reducer drive gear 1





Idler shaft

Planet gear

Idler shaft pin shaft

sensor

Wireless communicationconverter

PC display interface

(a)

0 200 400 600 800 1000 1200 1400 1600 1800 2000Data point

2

4

6

8

10

12

14

16

F (N

)

times104

Fy1

Fy2

Fx1

Fx2

Fz1

Fz2

(b)

0 200 400 600 800 1000 1200 1400 1600 1800 20001

2

3

4

5

6

7

8

Data point

Torq

ueT

(Nmiddotm

)

times104

T1

T2

(c)

Figure 2 Test system and test load (a) System layout for evaluating three-direction resistance of cutting picks and corresponding drumtorque (b) Result for three-direction resistance load of cutting picks (c) Result for drum torque load

values of the average force acting along the119885direction (119865HRZ)measured minus37 t during the start-up phase and minus181 t duringthe actual cutting phase thereby demonstrating a relativedecrease of 189 t

As depicted in Figure 3 forces acting on the left andright plane support plate pin shafts during the actual cutting

operation of the shearer drum are considerably lower com-pared to those acting during the start-up phase of themachine This is because at the instant when the shearer isset in operation the load acting on the drum along the 119884direction is zero At this time gravitational and inertial forcesacting on the shearer are borne by the left and right plane


Forc

e of p

lane

supp

ort p

late

(t)

20

10

30

40

010 20 30 40 500

Simulation time (s)

(a)

10 20 30 40 500Simulation time (s)

minus10

minus5

0

5

10

Forc

e of p

lane

supp

ort p

late

(t)

(b)

minus10

0

10

20

30

Forc

e of p

lane

supp

ort p

late

(t)


(c)


minus6

minus4

minus2

0

2

Forc

e of p

lane

supp

ort p

late

(t)

(d)

Figure 3 Time histories of forces acting on plane support plate pin shafts (a) Force along the 119884 direction on the left plane support plate pinshaft (b) force along the 119885 direction on the left plane support plate pin shaft (c) force along the 119884 direction on the right plane support platepin shaft and (d) force along the 119885 direction on the right plane support plate pin shaft

and guiding support plates During the actual cutting phase ofthe left and right drums owing to directions of the imposedcutting load 1198651199101 and 1198651199102 assume positive values and theirrespective directions are the same as that of the support loadacting on the plane support plate along the 119884 directionThusthe left and right drums tend to cut off loads along the verticaldirection thereby offsetting the load acting on a part of theplane support plate along the119884 directionThis in turn causesloads acting on the left and right plane support plate pinshafts to decrease The load acting on the two plane supportplate pin shafts along the 119885 direction primarily representsthe friction that occurs between the plane support plates andmiddle troughThus the trend observed for the two pin shaftsin terms of forces acting along the 119885 direction is identical tothat observed along the 119884 direction

A comparison of Figures 3(a) 3(b) 3(c) and 3(d) demon-strates that the force acting along the 119884 direction on the leftside of the plane support plate pin shaft is larger compared tothat acting on its right side This is because the drum on therightwith respect to thewalking direction of the coalmachineis used to cut the top coal and rocks during the simulationprocessThe lifting angle of the right rocker arm is thereforelarger In this case the cutting and traction loads and thecutting resistance torque acting on the right drum cause theshearer to produce a backward overturning moment due towhich the right side of the shearer has a tendency to liftupwards Consequently the force on the right of the planesupport plate pin shaft along the 119884 direction is relativelysmall

42 Analysis of Forces Acting on Guiding Support Plate PinShafts Time histories of forces acting along the 119884 and 119885directions on the left guiding support plate pin shaft aredepicted in Figures 4(a) and 4(b) respectively The averageforce along the 119884 direction (119865DLY) measured approximately935 t during the start-up phase of the shearer (0ndash3 s) andapproximately 395 t during the actual cutting phase therebydemonstrating a decrease of 54 t between phases In additionthe force follows a negative load trend curve This is becauseduring the actual cutting phase of the shearer when the drumload fluctuates and connection betweenmiddle troughs is notflat contact occurs between the guiding support plates andupper and lower surfaces of the pin row The lower surfaceof the pin row causes collision and the force on the pinshaft acting along the 119884 direction therefore changes Theaverage force acting along the 119885 direction (119865DLZ) measuredapproximately 1148 t during the start-up phase and 2807 tduring the actual cutting phase that is an increase of 1659 tbetween phases

Time histories of forces acting along the 119884 and 119885 direc-tions on the right guiding support plate pin shaft are depictedin Figures 4(c) and 4(d) respectivelyThe average force alongthe 119884 direction (119865DRY) measured approximately 831 t duringthe start-up phase and approximately 481 t during the actualcutting phase thereby indicating a decrease of 35 t betweenphases The reason behind negative values being observedin the trend curve depicted Figure 4(c) is essentially thesame as that for corresponding values observed in the caseof the left guiding support plate pin shaft The average force


minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)

Figure 4 Time histories of forces acting on guiding support plate pin shafts (a) Force along the 119884 direction on the left guiding support platepin shaft (b) force along the119885 direction on the left guiding support plate pin shaft (c) force along the119884 direction on the right guiding supportplate pin shaft and (d) force along the 119885 direction on the right guiding support plate pin shaft

along the 119885 direction (119865DRZ) measured approximately 1358 tduring the start-up phase and approximately 2805 t duringthe cutting phase implying an increase of 1447 t betweenphases

An analysis of the time histories depicted in Figures 4(a)4(b) 4(c) and 4(d) demonstrates that when the left and rightdrums perform the cutting operation forces acting on theleft and right guiding support plate pin shafts along the 119884direction reduce to the support load however correspondingloads on the two pin shafts increase along the 119885 directionThis is because directions of the cutting loads 1198651199101 and 1198651199102on the left and right drums are aligned along that of thesupporting load on the pin shaft along the 119884 directionConcurrently directions of cutting loads 1198651199111 and 1198651199112 actingon the left and right drums are opposite to that of thesupporting load on the pin shaft along the 119885 direction Thuswhen the drums are set into the cutting operation loads onthe two pin shafts decrease along the119884 direction and increasealong the 119885 direction

5 Experimental Verification

The Key Laboratory of the National Energy Center Exper-imental Center for Coal Mining Machinery EquipmentResearch and Development was deemed appropriate as theexperimental site At this site an experimental coal wallcould be constructed using a 1 1 scale ratio to simulate acorresponding coal wall in an actual underground coal mineThe main coal wall comprised coarse and fine coal aggregate

while water cement and a water reducer were used asadditives The coal aggregate was extracted from the Xinwenregion of the Shandong province Particle size of the coarsecoal aggregate ranged between 5 and 50mm with a naturalapparent density of 1331 kgm3 The fine coal aggregatecomprised particles measuring 02ndash5mm water extractedfrom groundwater sources in the Xinwen region compositecement (Tangshan shield Jidong PC325) and FND superwater reducing agent (manufactured by Jinan ShanghaiChemical Technology Co Ltd) capable of achieving water-reduction rates of the order of 18ndash28The density of the fineaggregate was approximately 3090 kgm3 Mixture ratios ofthe simulated composite coal wall are listed in Table 4

An experiment coal wall was poured specially and thelength of it is 70m the width is 3 meters and the thickness is4 metersThe consistent coefficient of the coal wall was testedto be 1198913 one month after the coal wall had hardened

As previously mentioned the MG5001180 shearer andSGZ10001050 scraper conveyor were usedThe experimentalsetup employed in this study was capable of performingonline measurements of the mechanical properties of coalit could accurately measure 3-D loads acting on shearerpicks as well as loads acting on pin shafts of the plane andguiding support plates To ensure safety of operation andreliability during the experimental process a wireless signaltransmission system was employed Position of installationand experimental setup of each sensor employed in theexperiment are depicted in Figure 5 During the experimentthe shearer was set to operate at a cutting speed of 4mmin


Table 4 Constituent material mixture ratios for simulated composite coal wall

Simulated coal wall mixture ratios (kgm3)Coarse aggregate Fine aggregate Water Cement Water reducing agent

950 600 200 260 169

Table 5 Contact surface parameters of sensors employed in this study

Accuracy Safe load Temperaturerange

Zerotemperature

drift

Sensitivitytemperature

drift

Bridgeimpedance

Sensormaterial

Supplyvoltage

002 Fs 150 Fs minus20ndash65∘C lt005Fs10∘C

lt003Fs10∘C 700Ω 40 CrNiMO4 12ndash30V (DC)

Wireless transmitter moduleand installation location

Three direction force sensor

(a)

The pin shaft sensor and wireless transmitter module

of plane supporting plate

(b)

Guidingsupport plate

Pin shaft sensor

(c) (d)

Figure 5 Sensor installation and experimental setup (a) Test system of shearer pick (b) plane support plate pin shaft (c) guiding supportplate pin shaft and (d) experimental field

the cutting depth of the drum was set at 500mm and theroller speed was 28 rpm

The SG403404 pin shaft sensors installed on the planeand guiding support plates were produced by JiangsuDonghua Testing Technology Co Ltd Primary technicalspecifications of these sensors are listed in Table 5

Calibration of the pin shaft sensor prior to their instal-lation was necessary in order to ensure accuracy of mea-surement during force tests of the supporting mechanism ofthe shearer During the calibration process it was ensuredthat changes in the range of loading values did not assumelarge values and values of the loads imposed were graduallyincreased in intervals of 10 kN Tests were repeated under

identical loading conditions thereby improving the precisionof the measurement system The level of precision was thenfurther improved by averaging out allmeasured values Tables6 and 7 list calibrated values for pin shaft sensors installedon the plane and guiding support plates and measuring loadsacting along the 119884 and 119885 directions

In accordance with values listed in Table 6 a quadraticcurve-fitting equation for forces acting along 119884 and 119885 direc-tions on the plane support plate pin shaft may be deduced as

119865119884 = 2242 times 10minus61199093 minus 1862 times 10minus41199092 + 3605

times 10minus2119909 + 4071 times 10minus4


Table 6 Calibrated values of sensor output corresponding to forces acting on plane support plate pin shaft along the 119884 and 119885 directions

(a) Calibrated values along 119884 direction

Loading value (kN) 0 10 20 30Output signal (mVV) 00001 03458 06631 09762

(b) Calibrated values along 119885 direction


Table 7 Calibrated values of sensor output corresponding to forces acting on guiding support plate pin shaft along the 119884 and 119885 directions







(3)

In accordance with values listed in Table 7 a quadraticcurve-fitting equation for forces acting along 119884 and 119885directions on the guiding support plate pin shaft may bededuced as

119865119884 = minus9417 times 10minus71199093 + 4793 times 10minus51199092 + 3098

times 10minus2119909 minus 2043 times 10minus4



(4)

Time histories of forces acting along 119884 and 119885 directionson the left and right plane support plate pin shafts aredepicted in Figure 6 Comparison of Figures 6(a) and 6(b)indicates that forces acting on the left plane support plate pinshaft suffer considerable fluctuations The force acting alongthe 119884 direction on the left plane support plate pin shaft wasfound to be considerably larger compared to that acting onthe right plane support plate pin shaftThis result is similar tothe one obtained via simulations A comparison of the resultsobtained via simulation and experiments is provided inTable 8 and the values demonstrate good agreement betweenthe two results The minimum error (approximately 279)was observed when measuring the force acting along the 119884direction on the right plane support plate pin shaft

Similarly the maximum error (approximately 163) wasobserved when estimating the force acting along the 119885direction on the left plane support plate pin shaft The aboveerrors are believed to be caused by the fact that the frictioncoefficient for the simulation model has a fixed value thishowever is not the case during actual experiments Also

the plane support plates were placed closer to the coal wallduring the experiment As a result the cutting coal or dustwas compacted on the side of the middle slot by the rightplane support plate in the walking direction thereby creatinga dust layer which creates a lubrication effect Existence of thedust layer reduces the coefficient of friction between the planesupport plates and central trough As a result the measuredforce on the left pin along the119885 direction is smaller comparedto the corresponding value obtained via simulation

Time histories of forces acting along 119884 and 119885 directionson the left and right guiding support plate pin shafts aredepicted in Figure 7 A comparison of the four figuresindicates that forces acting along 119884 and 119885 directions on theleft and right guiding support plate pin shafts demonstratefluctuations similar to the plane support plate pin shaft casesconsidered above

A comparison of average values of these forces obtainedvia simulation and experimental measurements is presentedin Table 9 The maximum load error (approximately 1083)was observed when estimating the force along 119884 directionon the right pin shaft The simulation values are found todemonstrate reasonable agreementwith experimental results

Comparison between simulation-based and experimen-tally derived cumulative load frequencies along the 119884 direc-tion on plane and guiding support plate pin shafts is depictedin Figure 8(a) As can be seen in the figure 529 simulationdata and 786 experimental data obtained for the rightguiding support plate lie in the range of 8ndash13 t Similarly517 simulation data and 5425 experimental data for theleft guiding support plate lie in the range of 8ndash13 t In the sameway 9445 simulation data and 942 experimental datafor the right plane support plate lie in the range of 13ndash18 tLastly 4675 simulation data and 8495 experimental datafor the left plane support plate lie in the range of 23ndash28 t Asimilar comparison of cumulative load frequencies for forcesacting along the 119885 direction is depicted in Figure 8(b) Asseen 759 simulation data and 754 experimental data for


10 20 30 40 500Experiment time (s)

0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)


(d)Figure 6 Time history of forces acting along 119884 and 119885 directions on plane support plate pin shafts (a) Force along 119884 direction on the leftplane support plate pin shaft (b) force along119885 direction on the left plane support plate pin shaft (c) force along119884 direction on the right planesupport plate pin shaft and (d) force along 119885 direction on the right plane support plate pin shaft

minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)

Figure 7 Time history of forces acting along 119884 and 119885 directions on guiding support plate pin shafts (a) Force along 119884 direction on leftguiding support plate pin shaft (b) force along 119885 direction on left guiding support plate pin shaft (c) force along 119884 direction on the rightguiding support plate pin shaft and (d) force along 119885 direction on the right guiding support plate pin shaft


Table 8 Comparison of forces acting on plane support plate pin shafts

119865HLY (t) 119865HLZ (t) 119865HRY (t) 119865HRZ (t)Simulation valuet 1974 minus199 732 minus181Experimental valuet 2062 minus171 753 minus162

Table 9 Comparison of forces acting on guiding support plate pin shafts

119865DLY (t) 119865DLZ (t) 119865DRY (t) 119865DRZ (t)Simulation valuet 396 2807 481 2805Experimental valuet 392 3066 434 2987

the right guiding support plate lie within the 28ndash33 t range7705 simulation data and 665 experimental data for theleft guiding support plate lie within the 28ndash33 t range 944simulation data and 9468 experimental data for the rightplane support plate lie within the 3ndash8 t range lastly 9345simulation data and 8735 experimental data for the leftplane support plate lie within the 3ndash8 t range The aboveanalysis demonstrates the similarity between distributionlaws for the simulation-based and experimentally obtaineddata

Based on the operating speed of the shearer (v =4mmin) drive wheel diameter (119889 = 0815m) and numberof teeth (119911 = 18) the drive wheel rotation frequency could becalculated as 119891119899 = V60120587119889 = 00261Hz while the engagingfrequency between the drive wheel and pin row could bedefined as 119891119898 = 119911119891119899 = 04698Hz Figure 9 depicts com-parison between amplitude-frequency curves plotted usingdata obtained via simulation and experiments with regardto the plane support plate In Figures 9(a) and 9(b) peakamplitude-frequency response values of 09453 1443 283and 4229Hz respectively correspond to frequency dou-blings of 2 3 6 and 9 with respect to the drive wheelengaging frequency Similarly in Figures 9(c) and 9(d) peakamplitude-frequency response values of 02385 0467809453 and 1144Hz correspond to frequency doublings of05 1 2 and 25 with respect to the drive wheel engaging fre-quency This implies that variation in the engaging stiffnessbetween the drive wheel and pin row is amajor factor causingload variations on the plane support plate

Figure 10 depicts comparison between amplitude-fre-quency response curves plotted using data obtained via sim-ulation and experiments with regard to the guiding sup-port plate In Figures 10(a) and 10(b) the peak amplitude-frequency response values of 09453 1443 283 and 4229Hzcorrespond to frequency doublings of 2 3 6 and 9 withrespect to the drive wheel engaging frequency Similarly inFigure 10(c) peak amplitude-frequency response values of09453 18916 and 4229Hz correspond to frequency dou-blings of 2 4 and 9 with respect to the drive wheel engagingfrequency Lastly in Figure 10(d) peak amplitude-frequencyresponse values of 04678 1443 2348 and 4229Hz corre-spond to frequency doublings of 1 3 5 and 9 with respectto the drive wheel engaging frequency This implies thatvariation in the engaging stiffness between the drive wheeland pin row is a major factor causing load variations on theguiding support plate

Through comparison of the curves depicted in Figures9 and 10 representing data obtained via simulation andexperiment it could be concluded that within a frequencyrange 2Hz peak values of the amplitude-frequency responsecorresponding to experimental data are larger Howeverwithin frequency ranges that exceed 2Hz peak values ofthe amplitude-frequency response corresponding to dataobtained via simulation are larger Also variation trends forthe two curves are nearly coincident this implies that theproposed simulation model is accurate up to a significantextent

6 Analysis of Forces Acting onShearer Support Plate Pin Shafts underDifferent Pitching and Roll Angles

Pitch and roll angles are generated on the working face ofa coal mine owing to restrictions imposed by undergroundmining conditions Considerable variations in themagnitudeof these angles cause significant variations in the stressesinduced in the support plate structures which is an importantconcern In the proposed study with use of MG5001180shearer the range of adaptation with respect to the over-hand mining angle was 0ndash45∘ and that with respect to theunderhand stopping angle wasminus45ndash0∘The roll angle towardsthe guiding support plate was found to be positive and therange of adaptation with respect to the roll angle was 0ndash15∘The roll angle towards the plane support plate was negativeand the corresponding range of adaptation with respect tothe roll angle was minus15ndash0∘ Therefore based on the proposedrigid-flexible coupling dynamics model changes in the pitchand roll angles were affected via changes in the direction ofgravity forces In accordance with the previously describedsimulation steps the model was simulated under differentpitch and roll angles and themean forces on the support platepin shafts under different pitch and roll angles were obtainedas depicted in Figure 11

Figure 11(a) depicts changes in the mean force actingalong the119885 direction on the plane and guiding support platesduring overhand mining at pitch angles of 0ndash45∘ degreesand underhand stopping at pitch angles of minus45ndash0∘ The rollangle was maintained constant for this case As observedfrom the figure with increase in the overhand pitch anglefrom 0∘ to 45∘ the mean value of the force acting on the leftguiding support plate increases from 29825 t to 3423 t while


Variable name

S-(simulation value)

E-(experimental value)

1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)

Figure 8 Comparison between simulation and experimentally obtained cumulative load frequencies along 119884 and 119885 directions (a)Cumulative load frequency along 119884 direction and (b) cumulative load frequency along 119884 direction

f = 09453

f = 1443

f = 283f = 4229

5 10 150Frequency f (Hz)

0

200

400

600

Am

plitu

de A

(t)

Experimental valueSimulation value

(a) Load of left plane support plate along the 119884 direction

f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)


(b) Load of left plane support plate along the 119885 direction

f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)


(c) Load of right plane support plate along the 119884 direction

f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)


(d) Load of right plane support plate along the 119885 direction

Figure 9 Amplitude-frequency response curves for the plane support plate

that on the left plane support plate decreases from minus185 t tominus562 t Simultaneously the mean force acting on the rightguiding support plate decreases from 2844 t to 2663 t whilethat acting on the right plane support plate increases from

minus1635 t to minus062 t In addition as the underhand stoppingangle increases from minus45∘ to 0∘ the mean force acting on theleft guiding support plate increases from 2513 t to 29825 twhile that acting on the left plane support plate decreases


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)


(a) Load of left guiding support plate along the 119884 direction

f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)



(b) Load of left guiding support plate along the 119885 direction

f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)


(c) Load of right guiding support plate along the 119884 direction

f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)


(d) Load of right guiding support plate along the 119885 direction

Figure 10 Amplitude-frequency response curves for guiding support plate

from 188 t to minus185 t Moreover the mean force on the rightguiding support plate decreases from 3022 t to 2844 t whilethat on the right plane support plate increases from minus267 t tominus1635 t

Figure 11(b) depicts changes in the mean force actingalong the 119884 direction on the two support plates duringoverhand mining at pitch angles varying between 0∘ and 45∘and underhand stopping at pitch angles varying betweenminus45∘and 0∘ at a constant roll angle As can be seen from the figurewith increase in the overhand stopping angle from 0∘ to 45∘the mean value of the force acting on the left guiding supportplate increases from 406 t to 489 t while that acting on leftplane support plate increases from 2022 t to 2125 tThemeanforce acting on the right guiding support plate decreasesfrom 443 t to 319 t while that acting on the right planesupport plate decreases from 77675 t to 595 t Meanwhilewith increase in the underhand stopping angle from minus45∘ to0∘ the mean force acting on the left guiding support plateincreases from 356 t to 406 t while that acting on the leftplane support plate increases from 1911 t to 2022 tThemeanforce acting on the right guiding support plate decreases from539 t to 443 t while that acting on the right plane supportingplate decreases from 874 t to 7675 t

Figure 11(c) depicts changes in the mean force along the119885 direction on the two support plates during positive mining

at roll angles varying from 0∘ to 20∘ degrees and negativemining at roll angles varying from minus20∘ to 0∘ with the pitchangle held constant As can be seen from the figure duringpositive roll mining with increase in roll angle from 0∘ to 20∘the mean value of the force acting on the left guiding supportplate increases from29825 t to 3197 t while that acting on theleft plane support plate increases from minus185 t to minus06 t Themean force acting on the right guiding support plate increasesfrom 2844 t to 2959 t while that acting on the right planesupport plate increases from minus1635 t to minus0415 t Meanwhilewith increase in roll angle from minus20∘ to 0∘ during the negativeroll process themean force acting on the left guiding supportplate increases from2787 t to 29825 t while that acting on theleft plane support plate increases from minus317 t to minus185 t Themean force acting on the right guiding support plate increasesfrom 2703 t to 2844 t while that acting on the right planesupport plate increases from minus237 t to minus1635 t

Figure 11(d) depicts changes in the mean force actingalong the 119884 direction on the two support plates duringpositive and negative mining operations performed at rollangles varying between 0∘ to 20∘ and minus20∘ to 0∘ respectivelywith the pitch angle held constant As can be seen from thefigure during the positive roll mining process with increasein roll angle from 0∘ to 20∘ the mean force acting on the leftguiding support plate increases from 406 t to 594 t while


Right guiding support plate pin shaftLeft guiding support plate pin shaftRight plane support plate pin shaftLeft plane support plate pin shaft

0 20 40minus20minus40Pitch angle (∘)

minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)

0 10 20minus10minus20Roll angle (∘)

(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)

Figure 11 Variations in average forces acting on the support plate pin shafts with changes in pitch and roll angles (a) Mean force alongthe 119885 direction acting on support plate pin shafts corresponding to changes in positive pitch angle (b) mean force along the 119884 direction onsupport plate pin shafts corresponding to changes in negative pitch angle (c) mean force along the 119885 direction on support plate pin shaftscorresponding to changes in positive roll angle and (d)mean force along the119884 direction on support plate pin shafts corresponding to changesin negative roll angle

that acting on the left plane support plate decreases from2022 t to 1312 t The mean force acting on the right guidingsupport plate increases from 443 t to 756 t while that actingon the right plane support plate decreases from 7675 t to659 t Meanwhile with increase in roll angle from minus20∘ to0∘ during the negative roll mining process the mean forceacting on the left guiding support plate increases from 328 tto 406 t while that acting on the left plane support platedecreases from 2432 t to 2022 t The mean force acting onthe right guiding support plate increases from 323 t to 443 twhile that acting on the right plane support plate decreasesfrom 1385 t to 765 t

The range of magnitudes of the mean force acting on thesupport plates along the 119884 and 119885 directions under varyingpitch and roll angles could be utilized as a base for furthermechanical analysis and optimization of the shearer de-sign

7 Lifetime Analysis and Structural SizeImprovement of Guiding Support Plate

Reference to Figure 11 and actual application of the proposedmodel in fully mechanized coal surface environment demon-strate that under the effect of large shearer pitch anglesthe guiding support plate is susceptible to breaking easilyThus the force curve obtained at completion of the 50 s longsimulation corresponding to the left guiding support platewith mining operation performed at 50∘ shearer pitch anglewas considered as the load constraint of a loop Subsequentlya lifetime analysis was performed using Ncode the results ofwhich are depicted in Figure 12(a) The figure indicates thatthe minimum lifetime position lies in the otic placode andthe corresponding loop number is 1305 times 106 Because theperiod of each load loop is approximately 50 s if the shearerworks for 16 hday the lifetime of left guiding support plate


No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013

Max = beyond cutoffAt node 8228

Min = 1305e + 006At node 3926

1305e + 006

(a) Guiding support plate with original size

L1

L 2

The original size is 33mmThe size optimized is 40 mm

The original size is 840 mmThe size optimized is 925 mm

(b) Size improvement sketch of guiding support plate

No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006

(c) Guiding support plate with improved size

Figure 12 Lifetime analysis and comparison for guiding support plate

would be approximately 1132 days Typical designed produc-tion lifespan of coal seams in China is more than 20 yearsTherefore the lifespan of the guiding support plate is muchshorter As such the otic placode thickness 1198711 and guide platethickness 1198712 of the guiding support plate were optimizedwithout influencing the matching performance of the shearerand scraper conveyor assembliesThe original and optimizedsizes are depicted in Figure 12(b) The lifespan of the guidingsupport plate with the optimized size was analyzed usingNcode and the result is depicted in Figure 12(c) whichdemonstrates that the minimum loop number of the weakspot has been increased to 3290 times 106 which correspondsto roughly 1723 days more compared to the lifespan of theoriginal guiding support plate This translates to a 15 timesincrease in the original lifespan of the support plate

8 Conclusion

Properties of a rigid-flexible coupling model of a sheareroperating under the action of loads imposed during opera-tion have been investigated by means of virtual simulationsas well as experimental tests and the following results havebeen obtained

(1)When the operating phase of the drum switches fromstart-up to actual cutting the average force acting on theleft and right support plate pin shafts was observed to havereduced Along the 119884 direction the average load on the leftplane support plate pin shaft reduces from 2252 t to 1974 twhile that on the right plane support plate pin shaft reducesfrom 1809 t to 1007 t Along the 119885 direction the mean loadon the left plane support plate pin shaft reduces from minus421 tto minus199 t and that on the right plane support plate pin shaftreduces from minus37 t to minus181 t As the shearer drum is cutand lifting angle of right roller becomes large the effect ofthe cutting load traction load and cutting resistance torqueon the right roller causes the shearer to produce a backwardoverturning moment As such along the 119884 direction theforce on the right side of the plane support plate pin shaftis of a smaller magnitude compared to that on the leftside(2)Under the influence of the drum load with the switch

in operating phase of the drum loads on the left and rightsides of the guiding support plate pin shaft acting along the119884 direction are found to have reduced Corresponding loadsalong 119885 direction on the two sides of the same plate pin shaftdemonstrate an increase inmagnitude Loads acting along the


119884 direction on the two guiding support plate pin shafts appearas being negative on the curve this indicates that the lowersurface of the two guiding support plate pin shafts collideswith the pin row during shearer operation(3) A comparison of experimental and simulation results

demonstrates minimum (279) and maximum (163)errors incurred while estimating the average load actingalong the 119885 direction on the right and left sides respectivelyof the plane support plate pin shaftThe actual error in termsof force magnitudes was approximately 028 t This value isrelatively small in comparison to the heavy loads acting onthe shearer(4) Using the proposed simulation model the effect of

variations in pitch and roll angles caused by changes in thedirection of gravity forces was investigated Estimates of theaverage force acting on the support plates obtained as aresult of this analysis could be utilized as a base for furthermechanical analysis and optimization of the shearer design(5) Lastly it has been demonstrated that the lifetime

of guiding support plates could be extended by more than15 times its original value through optimization of the oticplacode and plate length

Conflicts of Interest

The authors declare that they have no conflicts of interest

Acknowledgments

This research was supported by three grants received fromthe National Natural Science Foundation of China (5140413251774162 and 51274112)

References

[1] A B Efremenkov A A Khoreshok S A Zhironkin and AV Myaskov ldquoCoal mining machinery development as an eco-logical factor of progressive technologies implementationrdquo IOPConference Series Earth and Environmental Science vol 50 no1 2017

[2] F Simon J Barabady and B Abbas ldquoAvailability analysis of themain conveyor in the Svea coal mine in Norwayrdquo InternationalJournal of Mining Science and Technology vol 24 no 5 pp 587ndash591 2017

[3] J Korski K Tobor-Osadnik and M Wyganowska ldquoMiningmachines effectiveness and OEE Indicatorrdquo IOP ConferenceSeries Materials Science and Engineering vol 268 2017

[4] S Mandal ldquoEvaluation of reliability index of long wall equip-ment systems for production contingencyrdquoMining Technologyvol 78 no 897 pp 138ndash140 1996

[5] S H Hoseinie M Ataei R Khalokakaie B Ghodrati andU Kumar ldquoReliability analysis of drum shearer machine atmechanized longwall minesrdquo Journal of Quality in MaintenanceEngineering vol 18 no 1 pp 98ndash119 2012

[6] P Gong J Zhou and Y Lv ldquoAnalysis of the damage reason ofguide foot of MG375-type shearerrdquo Coal Science amp TechnologyMagazine vol 4 pp 9-10 2006

[7] R Chai W Guo and C Yin ldquoForce and failure analysis ofshearer guided sliding slipperdquoCoalMineMachinery vol 36 no2 pp 116-117 2015

[8] K Liu ldquoAnalysis on failure and improving of shearer haulagerdquoCoal Mine Machinery vol 36 no 01 pp 281-282 2015

[9] G Lang X Yuan andW Tuo ldquoAnalysis of tooth-break fault onshearers walking wheelrdquo Mechanical and Electrical vol 3 pp34ndash36 2010

[10] A Zachura and R Zuczek ldquoInnovative design of a longwallshearerrsquos haulage system with highly loaded components of atribological pair manufactured according to the precise castingtechnologyrdquo Solid State Phenomena vol 223 pp 171ndash180 2015

[11] H Chen K Zhang S Tian J Mao and Q Song ldquoAnalysis onmodelling and service life of pin row guide sliding shoes seton shearer under oblique cutting performancesrdquo Coal Scienceamp Technology Magazine vol 45 no 4 pp 82ndash88 2017

[12] C Liu and S Dai ldquoMechanical modelling of whole double-drum shearer and its solutionrdquo Journal of Heilongjiang Instituteof Science amp Technology vol 22 no 1 pp 33ndash38 2012

[13] H Chen K Zhang Z Yuan and J Mao ldquoMechanics analysesof shearers based on resistance testsrdquoZhongguo Jixie Gongchengvol 27 no 19 pp 2646ndash2651 2016

[14] C Liu D Li and S Dai ldquoInfluence of random load onmechan-ical properties of double-drum shearerrdquo Mechanical and Elec-trical vol 6 pp 45ndash48 2012

[15] L Shen Q Li Q Lei and H Yan ldquoStructure improvement andfinite element analysis of shearer guide skid shoerdquo Coal MineMachinery vol 34 no 10 pp 165-166 2013

[16] M Lu ldquoFinite element analysis of guided sliding boots in coalwinning machinerdquo Coal Mine Machinery vol 38 no 4 pp 56-57 2017

[17] H Chen Y Bai J Mao and Q Song ldquo7-DOF nonlinearvibration analysis of shearer under condition excitationrdquo JixieQiangduJournal of Mechanical Strength vol 39 no 1 pp 1ndash62017

[18] B Zhang C Liu and H Lin ldquoAnalysis of force for shearerrdquoNortheast Coal Technology vol 5 no 10 pp 40ndash42 1999

[19] C Liu and C Tian ldquoSolution of mechanical model of wholeshearer based on least square principlerdquo Journal of LiaoningTechnical University Natural Science vol 34 no 4 pp 505ndash5102015

[20] Z Wang Kinematics analysis and strength study for haulagemechanism of drum shearer Coal Science Research Institute2007

[21] H Chen Y Bai J Mao and Q Song ldquoNonlinear vibration ofshearer in walk plane under multiple excitationrdquo MachineDesign and Research vol 32 no 2 pp 166ndash170 2016

[22] J Zhou Y Liu S Liu and C Du ldquoCharacteristic analysis ofdynamic meshing for shearer walking mechanismrdquo Journal ofEngineering Design vol 3 no 20 pp 230ndash237 2013

[23] D Zhou X-F Zhang Z Yang and Y-M Zhang ldquoVibrationreliability analysis on tractive transmission system of shearerrdquoJournal of the China Coal Society vol 40 no 11 pp 2546ndash25512015

[24] S Liu and C Luo ldquoVibration experiment of shearer walkingunitrdquoApplied Mechanics andMaterials vol 268 no 1 pp 1257ndash1261 2013

[25] H Liu L Wang S Ge S Cao J Jin and J Gao ldquoOptimizationof shearer sliding boots by plasma cladding with Cr4MnTirdquoInternational Journal of Mining Science and Technology vol 21no 6 pp 877ndash880 2011

[26] B Hong and J Gong ldquoTribological properties of Fe-Cr-B alloyfor sliding boot in coal mining machine under dry slidingconditionrdquo Industrial Lubrication and Tribology vol 69 no 02pp 142ndash148 2017


[27] K Zhou J Lu Y Hou Y Wei L Meng and Y Sai ldquoDynamicsmodeling and parameter identification of leaf spring based onRecurdynrdquo Journal of Mechanical Engineering vol 50 no 4 pp128ndash134 2014

[28] P Mishra M Kumar S Kumar and P Mandal ldquoWireless real-time sensing platform using vibrating wire-based geotechnicalsensor for underground coal minesrdquo Sensors amp Actuators APhysical vol 269 pp 212ndash217 2018

[29] H Lee J Kim K Sho and H Park ldquoA wireless vibratingwire sensor node for continuous structural health monitoringrdquoSmart Materials amp Structures vol 19 no 19 2010

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undergoes corresponding changes thereby causing impactand abrasion between guiding support plates and the pin rowThe pin row correspondingly produces a large reaction forceon the guide hook of the guiding support plates An extremelylargemagnitude of this forcemay result in failure of the guidehook or pin row thereby affecting the stability and reliabilityof operation of the shearer and scraper conveyor [7] Inaddition during oblique cutting of a coal wall by means of ashearer owing to line-shape bending of the scraper conveyorthe friction and impact forces acting between the inner side ofthe support mechanism and the scraper pin row undergo anincrease thereby resulting in cracking or pin breakage of thesupportmechanism [8 9]Therefore an understanding of themechanical properties of the shearer and scraper conveyoris important while addressing the abovementioned issuesconcerning the support mechanism and pin damage

Problems encountered during operation of miningmachinery have been investigated in detail by engineersand researchers in the past Zachura and Zuczek [10] devel-oped an innovative Flextrack system capable of limiting thedevelopment of large pressing stresses between cooperatingsurfaces of the drive wheel and tooth gear (according toHertz) Advanced toothed gear systems designed in thisway enable one to overcome the horizontal and verticalinclinations of the conveyor route upon which the shearermoves This in turn serves to increase the operational life ofdrive wheels thereby significantly reducing the maintenancetime under dangerous operating conditions Chen et al [11]devised a mechanical model representing the entire shearerassembly operating under the oblique cutting conditionThey also derived and evaluated forces of interaction actingbetween the support mechanism and two pin rows of acoal mining machine by means of finite element analysisAdditionally they determined the fatigue risk point for ascraper pin row through fatigue-life analysis of support platesand scraper pin row Liu andDai [12] used the comprehensivemethod of preestimation and state judgment to develop themechanical model of a shearer Chen et al [13] proposed useof a mechanics-based model for the entire shearer assemblydeveloped using the deformation compatibility equationThe loads acting on left and right driving rollers evaluatedthrough experiments were provided as input to the modeland the stepwise discriminant method was used to solve themodel numerically thereby obtaining the loads acting onthe walking support part during the cutting operation of theshearer Liu et al [14] established a mechanical model andstate equation for the shearer based on structural parametersassociated with a coal mining machine the correspondingoperating parameters and the roll angle of a coal seamThe superposition algorithm was used to numerically solvethe model Shen et al [15] suggested analyzed and verifiedimprovements in the operation of support plates of a shearerassembly using the finite element method The improvedsupport plates were applied to actual operation in a coalmine and good results were achieved Lu [16] used the finiteelement method to analyze the operation of shearer supportplates The concentrated stress caused by virtual constraintswas removed maximum stress acting at the support plateswas obtained and the stress concentration in support plates

was evaluated and analyzed to increase their strength AGCr13 gasket was added to improve the wearing resistanceof the support plates Chen et al [17] used the descriptionof stiffness and damping of plane support plates in accor-dance with Hertz contact theory and established a 7-degree-of-freedom dynamic model of the shearer based on theLagrange dynamics equationThey used a numerical methodto solve for vibration characteristics of the shearer modelunder different haulage speeds Zhang et al [18] derived therelationship between the direction of the supporting forceon each support plate and coefficient matrix of the staticequation of the shearer the equation was solved using theGaussndashJordanmethod Liu andTian [19] used the least squareand generalized inverse methods to solve for the force changelawof the support plates of a shearer under different operatingconditions Wang [20] used the virtual prototype technologyfor meshing the shearer driving wheel and scraper conveyorpin row for simulation They used two different theoriesto calculate contact stresses for the shearer driving wheeland scraper conveyor pin row Chen et al [21] devised anonlinear model to describe the action between the shearerdriving wheel and scraper pin row under clearance using gearmeshing They used the Kulun friction model to describethe sliding friction between the supporting mechanism ofthe shearer and scraper conveyorThe Newmark method wasused to solve the equation Zhou et al [22]made us of a virtualprototype developed using the ANASYSLS DYNA technol-ogy to simulate and analyze dynamic meshing characteristicsof an involute shearer walking mechanism and type III pinrail Zhou et al [23] established a dynamic model of the trac-tion part of a shearer Concurrently the dynamic reliabilityevaluation of a transmission system under load was studiedbased on the sequential statistic theory Liu and Luo [24]established a test platform for the walking mechanism of thetraction part a shearer The mechanism was studied experi-mentally using the 3-point test method and rules of vibrationgoverning the walking mechanism were obtained Liu et al[25] analyzed wear failure forms of the support plates of ashearer and optimized the support plate performance usingplasma cladding with Cr4MnTi Hong and Gong [26] useda reciprocating pin on a disc of Fe (21 wt)ndashCr (5wt)ndashBalloy under the dry sliding condition and performed thefrictionwear test through use of awear-testingmachineTheyperformed a comparative analysis with conventional supportplate manufacturing materials and observed that the wearresistance of support plate manufacturing materials can bemuch improved through use of their proposed approachTheabove extant studies have primarily focused on theoreticalanalysis and have not performed a combined experimental-numerical analysis

The proposed study adopts the virtual prototype tech-nology to establish a rigid-flexible coupling model whilstconsidering the test load on the shearer drum as stimulusThe model includes line shape of the middle trough of ascraper conveyor Impact characteristics of the shearer guid-ing support plates and pin row clearance contact-frictioncharacteristics of the plane support plates andmiddle troughmeshing characteristics of the driving wheel and pin rowflexible characteristics of the shearer rocker arm and lastly






























Driving wheel


support plate




D1

D2

(a)



Pin shaft

(b)

FuselageRocker arm

Left drumRight drum

Scraper conveyor

V




119891119899 = 1198961205751198981 + 119888

1205751003816100381610038161003816100381612057510038161003816100381610038161003816

100381610038161003816100381610038161205751003816100381610038161003816100381611989821205751198983 (2)






















Strain gage


MotorMotor

output gear

Drum






Idler shaft

Planet gear


sensor



(a)

0 200 400 600 800 1000 1200 1400 1600 1800 2000Data point

2

4

6

8

10

12

14

16

F (N

)

times104

Fy1

Fy2

Fx1

Fx2

Fz1

Fz2

(b)

0 200 400 600 800 1000 1200 1400 1600 1800 20001

2

3

4

5

6

7

8

Data point

Torq

ueT

(Nmiddotm

)

times104

T1

T2

(c)






Forc

e of p

lane

supp

ort p

late

(t)

20

10

30

40

010 20 30 40 500

Simulation time (s)

(a)


minus10

minus5

0

5

10

Forc

e of p

lane

supp

ort p

late

(t)

(b)

minus10

0

10

20

30

Forc

e of p

lane

supp

ort p

late

(t)


(c)


minus6

minus4

minus2

0

2

Forc

e of p

lane

supp

ort p

late

(t)

(d)







minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)












950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia































Driving wheel


support plate




D1

D2

(a)



Pin shaft

(b)

FuselageRocker arm

Left drumRight drum

Scraper conveyor

V




119891119899 = 1198961205751198981 + 119888

1205751003816100381610038161003816100381612057510038161003816100381610038161003816

100381610038161003816100381610038161205751003816100381610038161003816100381611989821205751198983 (2)






















Strain gage


MotorMotor

output gear

Drum






Idler shaft

Planet gear


sensor



(a)

0 200 400 600 800 1000 1200 1400 1600 1800 2000Data point

2

4

6

8

10

12

14

16

F (N

)

times104

Fy1

Fy2

Fx1

Fx2

Fz1

Fz2

(b)

0 200 400 600 800 1000 1200 1400 1600 1800 20001

2

3

4

5

6

7

8

Data point

Torq

ueT

(Nmiddotm

)

times104

T1

T2

(c)






Forc

e of p

lane

supp

ort p

late

(t)

20

10

30

40

010 20 30 40 500

Simulation time (s)

(a)


minus10

minus5

0

5

10

Forc

e of p

lane

supp

ort p

late

(t)

(b)

minus10

0

10

20

30

Forc

e of p

lane

supp

ort p

late

(t)


(c)


minus6

minus4

minus2

0

2

Forc

e of p

lane

supp

ort p

late

(t)

(d)







minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)












950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia


















Strain gage


MotorMotor

output gear

Drum






Idler shaft

Planet gear


sensor



(a)

0 200 400 600 800 1000 1200 1400 1600 1800 2000Data point

2

4

6

8

10

12

14

16

F (N

)

times104

Fy1

Fy2

Fx1

Fx2

Fz1

Fz2

(b)

0 200 400 600 800 1000 1200 1400 1600 1800 20001

2

3

4

5

6

7

8

Data point

Torq

ueT

(Nmiddotm

)

times104

T1

T2

(c)






Forc

e of p

lane

supp

ort p

late

(t)

20

10

30

40

010 20 30 40 500

Simulation time (s)

(a)


minus10

minus5

0

5

10

Forc

e of p

lane

supp

ort p

late

(t)

(b)

minus10

0

10

20

30

Forc

e of p

lane

supp

ort p

late

(t)


(c)


minus6

minus4

minus2

0

2

Forc

e of p

lane

supp

ort p

late

(t)

(d)







minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)












950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia



Forc

e of p

lane

supp

ort p

late

(t)

20

10

30

40

010 20 30 40 500

Simulation time (s)

(a)


minus10

minus5

0

5

10

Forc

e of p

lane

supp

ort p

late

(t)

(b)

minus10

0

10

20

30

Forc

e of p

lane

supp

ort p

late

(t)


(c)


minus6

minus4

minus2

0

2

Forc

e of p

lane

supp

ort p

late

(t)

(d)







minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)












950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia



minus10

0

10

20Fo

rce o

f gui

ding

supp

ort p

late

(t)


(a)


0

10

20

30

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus10

0

10

20

30

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)


0

20

40

60

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(d)












950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia





950 600 200 260 169



Zerotemperature

drift


drift

Bridgeimpedance

Sensormaterial

Supplyvoltage





(a)



(b)


Pin shaft sensor

(c) (d)






















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia















(3)






(4)









0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia




0

10

20

30

40Fo

rce o

f pla

ne su

ppor

t pla

te (t

)

(a)


minus6

minus4

minus2

0

2

4

Forc

e of p

lane

supp

ort p

late

(t)

(b)

75

752

754

756

758

76

Forc

e of p

lane

supp

ort p

late

(t)


(c)

minus175

minus17

minus165

minus16

minus155

Forc

e of p

lane

supp

ort p

late

(t)



minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(a)


20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(b)


minus5

0

5

10

15

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)

(c)

20

25

30

35

40

Forc

e of g

uidi

ng su

ppor

t pla

te (t

)


(d)















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia















Variable name



1500

1000

500

0

Stat

istic

s

S-F＄２９

E-F＄２９

S-F＄９

E-F＄９

S-F（２９

E-F（２９

S-F（９

E-F（９

05

1015

2025

30

F (kN)

4035

(a)

1500

1000

500

0

Stat

istic

s

05

1015

2025

30

4540

35

Variable name



S-F＄２Z

E-F＄２Z

S-F＄Z

E-F＄Z

S-F（２Z

E-F（２Z

S-F（Z

E-F（Z F (kN)

(b)


f = 09453

f = 1443

f = 283f = 4229


0

200

400

600

Am

plitu

de A

(t)



f = 04478

f = 1443f = 2836

f = 4229


0

100

200

300

Am

plitu

de A

(t)



f = 04678f = 09453f =1144

f = 02385


0

5

10

15

20

Am

plitu

de A

(t)



f = 04678f = 09453f = 1144

f = 02385


0

5

10

15

Am

plitu

de A

(t)







f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia



f = 09453

f = 1443

f = 283f = 4229


0

200

400

600A

mpl

itude

A (t

)



f = 04478

f = 4229f = 283

f = 1443

0

100

200

300

400

500

Am

plitu

de A

(t)




f = 09453f = 18916

f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)



f = 04678

f = 2348f = 1443 f = 4229


0

100

200

300

400

500

Am

plitu

de A

(t)












minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia





minus10

0

10

20

30

40Fo

rce o

f a su

ppor

t pla

te (t

)

(a)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(b)


minus10

0

10

20

30

40

Forc

e of a

supp

ort p

late

(t)


(c)


0

5

10

15

20

25

Forc

e of a

supp

ort p

late

(t)


(d)







No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia



No data

Life (repeats)

Beyond cutoff

3182e + 0067762e + 0081893e + 0084618e + 0091126e + 0092748e + 0106702e + 0111635e + 0123988e + 013


Min = 1305e + 006At node 3926

1305e + 006


L1

L 2




No data

Life (repeats)

Beyond cutoff

7322e + 0061632e + 0073627e + 0088071e + 0081796e + 0093997e + 0108896e + 0111980e + 0124406e + 013


Min = 3290e + 006At node 4126

3290e + 006




8 Conclusion











Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia









Acknowledgments


References

































RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia








RoboticsJournal of




VLSI Design



Shock and Vibration







Journal of



Volume 2018



Volume 2018


Journal of




SensorsJournal of



RotatingMachinery





Propagation






Hindawi


Advances in

Multimedia


virtual simulation analysis of rigid-flexible coupling

Documents