Research on Dynamic Spatial Pose and Load of Hydraulic Support Under Inclined–Declined and Large-Dip-Angle Working Conditions for Product Design

To address stability and safety issues in hydraulic support design under inclined–declined and large-dip-angle working conditions, this paper proposes a design-driven dynamic pose–load co-evolution solution method based on the physical entity of the ZFY12000/21/36D hydraulic support. The feasibility of the proposed method is demonstrated through theoretical analysis, spatial modeling, and experimental verification. First, a spatial coordinate system describing hydraulic support pose is established based on Denavit–Hartenberg (DH) theory, constructing a “physical space-geometric coordinate system-DH parameter space” pose mapping model via DH principles, matrix iteration, and kinematic simulation. Second, a load-bearing characteristic analytical method is developed through systematic coupling analysis of dip angle, pose, and load distribution. Finally, coal mine field data collection and hydraulic support test platform experiments analyze load-bearing characteristics under varying poses and loads. Results show Root Mean Square Error (RMSE) values of 0.836° for the front link inclination, 0.756° for the rear link, 0.114° for the balance ram, and 0.372° for the column; load-bearing state evolution under pose–load synergy aligns with theoretical models, confirming method feasibility. This approach fills a domain gap in hydraulic support dip–pose–load co-solving and provides critical references for designing hydraulic support products under extreme dip-angle operations.