Kinematics of the manipulator arm of mining machines

U ovome završnom radu prikazana je analiza kinematike radnih ruku strojeva Support Rig i Drill Rig za kopanje rudnika. Proveden je analitički proračun svornjaka i uspoređen s numeričkim proračunom pomoću metode konačnih elemenata u programskom paketu Abaqus. U uvodu je opisana konstrukcija ruke alata, te njene bitnije komponente potrebne za daljnji proračun svornjaka. Nadalje se opisuje analitički način proračunavanja svornjaka i na osnovu njega se izmjenjuju pojedine dimenzije konstrukcije kako bi se zadovoljila dana opterećenja. Nakon analitičkog proračuna proveden je 2D i 3D numerički proračun u programskom paketu Abaqus. Također su opisani tipovi konačnih elemenata pri numeričkoj analizi. Analitički i numerički rezultati naprezanja su uspoređeni, te je razrađena učinkovitost pojedinih konačnih elemenata na osnovi konvergencije k analitičkom rješenju. Na kraju je dan zaključak, te analitički osvrt na dobivene rezultate naprezanja i oblikovanja konstrukcije ruke.This undergraduate thesis presents analysis of kinematics of manipulator arm of the mining machines Support Rig and Drill Rig. Analytical calculation of joint bolt was conducted and compared to numerical calculation using finite element method in the program pack Abaqus. The introduction describes design of the manipulator arm and components important for further joint bolt calculation. Furthermore, analytical way of joint bolt calculation was described and, based on joint bolt calculation some dimensions of design were amended so that given load is satisfied. After analytical calculation, 2D and 3D numerical calculations in the program pack Abaqus were conducted. Also, types of finite elements in numerical analysis were described. Analytical and numerical analysis were compared and efficiency of some finite elements based on conversion to analytical result was elaborated. In the end, conclusion was presented as well as the analytical review on the calculated strain results and reshaping the manipulator arm design