LAUSR

Considering that the trajectory of the cutting head of the longitudinal axis roadheader directly affects the surface morphology of the roadway, the formation mechanism of the outer profile of the roadway obtained by the cutting head is analyzed, and the dynamic model of the cutting part was constructed. The variation law of the vibration swing angle of the cutting head under different working conditions was obtained, and the coordinate of the cutting head of the roadheader in the roadway space coordinate system was determined by using the robot kinematics analysis method. The mathematical model of cutting the outer outline of the roadway by the cutting head is constructed. Through the numerical calculation and analysis, the characteristics of the formed outer profile of the roadway were analyzed considering the influence of the vibration of the cutting head. The results show that the difference between the “pit” and the “peak ridge” obtained by considering the vibration of the cutting head is larger than that without considering the vibration of the cutting head, which shows that the outer outline of the roadway obtained by the real cutting is more rougher than that without considering the vibration of the cutting head. With the increase of the cutting lifting angle, the maximum and average value of the difference between the “pit” and the uplift “peak ridge” on the coal and rock shows an increasing trend, and with the increase of the cylinder pressure, the maximum values of the horizontal swing angle “pit” and the uplift “peak ridge” gradually increase. The vibration of the cutting head when cutting coal and rock will have a great influence on the outer profile of the roadway, which cannot be ignored in the research of accurate autonomous cutting control algorithm of roadheader. The research results of this paper can provide a basis for the optimization of cutting parameters and high-precision forming control method of roadheader.