Boom-type roadheader is the most widely used equipment in the fully mechanized excavation face of coal mine. Under complicated operation conditions of underground coal mine, multibody large-scale displacement phenomenon of roadheader will occur during cutting process. Specifically, the position and attitude of the body are changing continuously, and radial runout phenomenon of the cutting arm will take place, which will seriously reduce the overall stability of roadheader and drivage efficiency of the roadway. Focused on the vertical cutting condition, the coupling dynamical model of position and attitude of the body is established based on Lagrange equation. Combined with the calculated cutting load, the dynamical model is solved through Simulink simulation method, and the solving results are analysed under different influence factors. Consequently, the response regularities of position and attitude of the body under influence of different factors are obtained. In the similar way, the dynamical model of radial runout quantity of the cutting arm is established, and the dynamic response of radial runout of the cutting arm during vertical cutting process is obtained as well. Finally, the simulation analysis results are validated through field experiments. The research work of this paper provides useful theoretical basis for deviation rectification control of the multibody structures of roadheader, fills the vacancy of theoretical study in this aspect, and contributes to improving the dynamics theory of mining machinery.

动臂式掘进机是煤矿综采工作面中使用最广泛的设备。在复杂的地下煤矿作业条件下，采掘过程中会发生掘进机多体大位移现象。具体地，车身的位置和姿态不断变化，并且切割臂会发生径向跳动现象，这将严重降低掘进机的整体稳定性和巷道的驱动效率。针对垂直切削条件，基于拉格朗日方程建立了人体位置与姿态耦合动力学模型。结合计算的切削负荷，通过Simulink求解动力学模型仿真方法，并分析了不同影响因素下的求解结果。因此，获得了在不同因素的影响下身体的位置和姿势的响应规律。以类似的方式，建立了切割臂径向跳动量的动力学模型，并获得了垂直切割过程中切割臂径向跳动的动态响应。最后，通过现场实验验证了仿真分析结果。本文的研究工作为掘进机多车体结构的纠偏控制提供了有用的理论依据，填补了这方面理论研究的空白，为完善矿山机械动力学理论做出了贡献。