基于悬臂式掘进机机械结构的拓扑结构分析，分别对悬臂式掘进机行走/支撑并联机构在空间掘进工作平面/滚动平面内可补偿的仰俯角偏差、巷顶距偏差、横滚角偏差，以及其回转并联机构/升降机构在空间掘进水平面内可补偿的水平偏角偏差、水平偏距偏差、车前距偏差进行深入研究分析，实现首次建立悬臂式掘进机机身空间全方位位姿偏差数学模型。应用空间机构结构学正/逆解求解思想，利用MATLAB及正解求解出已知各结构回路几何参量状态时，机身动平台的空间瞬时位姿偏差信息及可补偿空间位姿偏差的范围;逆解求出机身处于可补偿空间极限位姿偏差状态时，对应悬臂式掘进机的可调几何结构参量均满足工程设计要求。分析结果表明:通过调节前铲板/后支撑液压油缸驱动量，可实现补偿机身最大仰角偏差26.731°，最大俯角偏差27.468°，可补偿最大巷顶距偏差20.253 7 mm;同时，通过实时动态调整截割臂的截割姿态，可实现补偿机身最大水平偏角偏差36.067°。实验结果同样也验证了结论的正确性、可实施性与高效性。基于拓扑结构分析得到的掘进机机身空间位姿偏差数学模型可为实施智能化悬臂式掘进机实时动态精准纠偏提供有效思路和依据。

Based on the analysis on the topological structure of the mechanical structure of cantilever roadheader,the compensable elevation angle,roof pitch and roll angle deviation of parallel walking/supporting mechanism in the working/rolling plane,the compensable horizontal angle,horizontal deviation and forehead deviation in rotating/lifting mechanism in horizontal plane are respectively analyzed,the mathematical model of spatial position and posture deviation of roadheader is established for the first time.Applying the forward/inverse solution of spatial mechanism structure and solution of MATLAB,the instantaneous position and attitude deviation information of the fuselage movingplatform is obtained when the geometric parameters of each structural loop are known.When the fuselage is in the limit state of compostable space position and attitude deviation,the adjustable geometric structure parameters of corresponding cantilever roadheader are obtained by the inverse solution.The results meet the requirements of engineering design.The simulation results show that the maximum compensated elevation deviation is 26.731°,the maximum pitch deviation is 27.468° and the maximum top distance deviation is 20.253 7 mm by adjusting front-shovel/plateback hydraulic cylinder,and the maximum compensated horizontal deviation is 36.067 degree by adjusting the cutting arm’s cutting attitude dynamically.The experimental results also prove the validity and efficiency of the proposed model.The mathematical model of spatial position and attitude deviation proposed in this paper can provide an effective basis for the implementation of intelligent and precise deviation rectification for cantilever roadheader dynamic in realtime.

1 悬臂式掘进机拓扑结构分析及空间位姿偏差

2 基于悬臂式掘进机位拓扑结构分析的空间位姿偏差数学模型构建

    2.1 行走/支撑并联机构拓扑结构分析

    2.2 水平回转回路和截割臂升降回路机构拓扑结构分析及对应位姿偏差数学模型建立

3 悬臂式掘进机位姿偏差正/逆解分析

4 实验验证及仿真分析

5 结论