销轴间隙的存在会导致液压支架工作时发生横向倾斜，严重威胁液压支架平稳运行及支护状态。在对销轴连接结构分析的基础上，提出了考虑销轴间隙的液压支架运动虚拟仿真方法。分别从单销轴连接、双销轴连接以及多销轴空间约束3个方向对支架销轴连接结构进行分析，建立了液压支架多销轴约束模型；通过Unity3D为液压支架虚拟模型添加相关物理组件，基于重力及物理碰撞作用，实现了不同销轴间隙下液压支架姿态自适应调节；考虑后连杆销轴、前连杆销轴等7个因素对液压支架横向稳定性的影响，对仿真模型进行了七因素三水平的正交试验分析，并在液压支架样机系统上进行了试验验证，结果表明：仿真参数变化与实际液压支架运动参数变化基本吻合，立柱与底座连接销轴对于液压支架横向稳定性影响最大，后连杆与底座连接销轴的影响最小。该方法可为实现不同销轴间隙下液压支架姿态求解及其监测提供理论参考与应用借鉴。

In the process of coal mining, due to the existence of pin shaft clearance, the hydraulic support will incline laterally, which seriously threatens the stable operation and support state of the hydraulic support. Based on the analysis of pin shaft connection structure, this paper presents a virtual simulation method of hydraulic support motion based on pin shaft clearance. Firstly, the pin shaft connection structure of hydraulic support is analyzed from three aspects of single pin shaft connection, double pin shaft connection and multi pin shaft space constraint, and the multi pin shaft constraint model of hydraulic support is established. Then, the physical components are added to the virtual model of hydraulic support through Unity3D, and the simulation of hydraulic support based on gravity and physical collision is realized under different pin shaft clearance. hirdly, from the influence of seven factors on the lateral stability of the support, such as the pin axis of the rear link and the pin axis of the front link, the orthogonal experimental analysis of the simulation model with seven factors and three levels is carried out, and the experimental verification is carried out on the hydraulic support prototype system. The experimental results show that the changes of the simulation parameters are basically consistent with the changes of the actual hydraulic support motion parameters. The influence of connecting pin between column and base on the lateral stability of hydraulic support is the largest, and that of connecting pin between connecting rod and base is the smallest. This method provides a reference and application practice for solving and monitoring the attitude of hydraulic support under different pin shaft clearances.