Determining the Stability of a Mobile Manipulator for the Transport and Assembly of Arches in the Yielding Arch Support

The yielding arch support is transported and installed in the face with the use of auxiliary machines. These activities in underground mining cause many problems, which have as yet not been solved. Currently, transport and assembly are carried out manually, using the roadheader and suspended rail, or various types of mounting platforms. The analysis of the structure of the existing solutions resulted in the development of an original structure that met the requirements of Polish mines. Developed jointly by FAMA Sp. z o.o. and the AGH University of Science and Technology in Krakow, Poland, the mining modular transport and assembly unit (MZT-M) will enable the transport and assembly of support arches in the mining face. Additionally, it can also be used to reload works, which is related to the work ergonomics in underground coal mining, which is the main energy resource in Poland. The most important problem to be solved in the case of this manipulator, due to the limited space in the excavation, is how to ensure its stability during various phases of its operation. Therefore, analyses were carried out to find a solution, which resulted in determining specific conditions and design requirements related to the operation of this manipulator