为解决综掘巷道掘锚比例失衡与单体运输困难的问题，设计一种综掘巷道协同运锚车，基于ADAMS建立了协同运锚车的运动学模型，对高效送架作业进行轨迹规划，并分析承接装置与支护单体前移过程中各支腿的力学特性和极限送架距离。结果表明：支护单体前移过程中，当四条支腿全支撑时，前支腿的受力和力矩分别增加196%和195%，后支腿的受力和力矩分别从73.5 kN和238 kN·m减小至0，极限送架距离为15.3 m，满足送架的设计要求；当三腿支撑而右后支腿无支撑的特殊工况时，左前支腿的受力和力矩分别增加566%和572%，左后支腿的受力和力矩分别从145 kN和462 kN·m减小至0，右前支腿恒定的受力和力矩为150.8 kN和569.4 kN·m，极限送架距离为14.99 m。可见在三腿支撑而右后支腿无支撑的特殊工况下，协同运锚车的极限送架距离超过掘进机的最大长度，满足高效送架要求。

In order to solve the problem of unbalanced ratio of excavation and anchor and the difficulty of single transportation in fully mechanized excavation roadway, a cooperative anchor truck for fully mechanized excavation roadway was designed. Based on ADAMS, the kinematics model of the cooperative anchor truck was established, and the trajectory planning of the efficient support operation was carried out. The mechanical characteristics and ultimate support distance of each leg during the forward movement of the supporting device and the supporting monomer were analyzed. The results show that during the forward movement of the supporting monomer, when the four legs are fully supported, the force and moment of the front leg increase by 196% and 195% respectively, and the force and moment of the rear leg decrease from 73.5 kN and 238 kN·m to 0 respectively. The limit distance of the support is 15.3 m, which meets the design requirements of the support. When the three legs are supported and the right rear leg is not supported, the force and torque of the left front leg are increased by 566% and 572% respectively, and the force and torque of the left rear leg are reduced from 145 kN and 462 kN· m to 0 respectively. The constant force and torque of the right front leg are 150.8 kN and 569.4 kN·m, and the limit distance is 14.99 m. It can be seen that under the special working condition of three-leg support and no support for the right rear leg, the limit distance of the cooperative transport anchor vehicle exceeds the maximum length of the roadheader, which meets the requirements of efficient support.