###### Abstract  
Aiming at addressing the problems of low production efficiency and low safety factors in coal mines, this study designed a new type of support equipment and verified its theoretical reliability through the analysis of driving theory. The analysis was carried out through kinematics and dynamics, the position coordinates of the prototype at different times were analyzed using the RPY angles, and the spatial coordinate system of the prototype was established. Then, the position coordinates at different times could be solved by establishing the plane kinematics equations of the prototype. A 14-degree-of-freedom dynamic system model was established to reflect the longitudinal dynamic characteristics of the traveling mechanism of the prototype, and the differential equations of the traveling mechanism were established via the Lagrange dynamic equation method. Finally, the dynamic stability of the prototype under different working conditions was studied by using multi-body dynamic simulation technology. The research results show that the prototype meets the design requirements, has good reliability, realizes the mechanization, automation and high-efficiency production of coal mines, and realizes safe underground production. The research results provide effective solutions for ensuring the sustainable development of coal resources and the safe production of coal mines. t +
Footnote †: journal: Medical  
stage to the advanced stage, and pointed out the further development direction of China's mine support equipment [7]. [PERSON] designed a large self-moving support device and studied its mechanical properties through numerical simulation [8]. [PERSON] et al. discussed the latest technology in the motion system of ground mobile robots composed of tracks, and also reviewed the modeling, simulation and design methods of tracked ground mobile robots [9]. Previously, when designing using classical methods, the vehicle is usually assumed to be a rigid solid combination [10; 11; 12] system, and the motion description generalized coordinates are used, with the solids connected by spring-damped units. At present, most coal mines in China are relatively short of funds and cannot use existing supporting equipment on a large scale [13]. This paper innovatively designs a kind of double movable column hydraulic prop, as shown in Figure 1.  
The structural characteristics are mainly reflected in four aspects:  
* A double live column design is adopted, and the structure realizes bidirectional live column extension together with the self-transferring traveling mechanism, which improves the supporting efficiency;
* The upper and lower double live columns are designed with a ball-type slewing structure to adapt to the changes in the angle of the bottom plate and top plate of the coal mine underground and ensure the stability of the force of the hydraulic pillar in the support process;
* The cylinder body is welded with self-sealing connecting hose fittings to prevent the air from entering the working chamber of the hydraulic pillar, preventing cavitation and rusting of the system components, thus reducing the maintenance cost and improving the working life of the components, which is in line with the concept of green mine;
* The use of coal mine three-use valves and controllers to realize dual operation and dual control mode improves operation flexibility and efficiency and ensures the safety and reliability of roof support. Mechanical systems with rigid body dynamics are modeled using methods based on [PERSON]'s laws of motion [14]. However, there are some difficulties in modeling multi-body systems. When more mechanical parts are interconnected, modeling tends to rely on geometry, and simulating these mechanical systems can require considerable effort [15]. Therefore, this paper takes Jisuo Coal mine as an example to study a self-propelled closed-bracket virtual prototype (MSES virtual prototype for short) in a coal mine, as shown in Figures 2 and 3. The MSES virtual prototype is mainly applied to a thin coal seam.