Abstract This paper studies the running deviation and vibration of EBZ160 diganchor machine in the climbing process and analyzes various factors affect the stability of the whole machine through establishing mechanical climbing model. Applying RecurDyn, the virtual prototype model of the diganchor and the mine excavation roadway pavement model were established. The simulation of the diganchor machine in the climbing process researched on the forces and torque characteristics of the track tension cylinders and the driving wheels then studies the whole machine velocity, acceleration, and the changes of the elevation angle. The results of the simulation indicate that in the climbing process there exists certain impact in the force on the track key parts. When the climbing angle is the extreme value, vibration of the gravity center will become larger, and the phenomena of running deviation will come up. Through the analysis of simulation results, enlarging the tension cylinder pretension and adding the machine weight to reduce the gravity centers migration can decrease the whole machine running deviation and vibration．
MAO Jun, CHEN Hong-Yue, DONG Chun-You, ZHAO Xiao-Guang. Simulation of walking stability of diganchor machine. Chinese Journal of Engineering Design, 2011, 18(5): 349-353.
