三自由度双并联液压支架的设计与稳定性分析

针对现有四连杆型液压支架的立柱及顶梁均不能承受侧向力，侧向力通过掩护梁传递给连杆易造成倒架和支架机构损坏的原理性缺陷，提出一种基于3-RPC型并联机构的双并联液压支架的设计方案。文中对液压支架的工作空间进行分析，给出顶梁的运动轨迹公式；分析液压支架在偏载和大倾角工况下的受力情况，得出支架具有三向受力的特点，并给出准确的力学关系式；运用ADAMS软件对液压支架进行稳定性模拟仿真，验证了该并联液压支架的设计符合煤矿井下支护的要求，在技术上是可行的。

Design and stability analysis on three-DOF double parallel hydraulic support

Since the column and the top beam of the present four-bar hydraulic support fail to bear the lateral force, the lateral force is transferred to the rod via the shield beam, which often leads to the falling down of the support or damage of the support mecha-nism. With regard of such a theoretical shortcoming, this article introduces a new type of double parallel hydraulic support based on the 3-RPC parallel mechanism. The working space of the hydraulic support is analyzed and the trajectory formula of the top beam is presented. Through the force analysis of the hydraulic support under the condition of partial load and large dip angle, the hydraulic support can bear the forces from three directions and an accurate mechanical relational expression is given. ADAMS is applied to do the stability simulation of the hydraulic support. The results show that the design of such a hydraulic support meets the supporting re-quirements of coal mines and it is feasible in technology.