Rigid-Flexible Coupled Dynamic Modeling and Vibration Characteristic Analysis of a Hot Metal Deslagging Robot

Yuhang Zhang, Yuqiang Cai and Jingran Zhou

DOI: https://doi.org/10.64486/m.66.2.5
Online publication date: August 14, 2026

Abstract: Aiming at the mechanical vibration problem caused by the coupling between the flexible deformation of the long-cantilever boom structure and the dynamic characteristics of the gear-rack transmission system during the operation of the hot metal deslagging robot, this paper focuses on conducting a systematic rigid-flexible coupled dynamic modeling and vibration characteristic analysis. By integrating multi-body dynamics and finite element analysis for co-simulation, the dynamic response of the flexible boom during the swinging phase is accurately captured. Furthermore, based on modal coordinate analysis, the vibration generation mechanism and propagation characteristics are revealed.

Keywords: hot metal deslagging robot, rigid-flexible coupled modeling, vibration characteristics

This article is published online first and will appear in Metalurgija, Vol. 66, Issue 2 (2027).