Aφ6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

作     者：Yuanfu He Yimin Xia Zhen Xu Jie Yao Bo Ning Xuemeng Xiao Yuanfu He;Yimin Xia;Zhen Xu;Jie Yao;Bo Ning;Xuemeng Xiao

作者机构：College of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China State Key Laboratory of High Performance Complex ManufacturingCentral South UniversityChangsha 410083China China Railway Construction Heavy Industry Co.Ltd.Changsha 410100China China Railway Siyuan Survey and Design Group Co.Ltd.Wuhan 430063China National-Local Joint Engineering Research Center of Underwater Tunnelling TechnologyWuhan 430063China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第2期

页      面：121-134页

核心收录：

学科分类：081406[工学-桥梁与隧道工程] 08[工学] 0813[工学-建筑学] 0802[工学-机械工程] 0814[工学-土木工程] 082301[工学-道路与铁道工程] 0823[工学-交通运输工程] 

基　　金：Supported by Special funding support for the construction of innovative provinces in Hunan Province(Grant No.2019GK1010) National Key R&D Program of China(Grant No.2017YFB1302600) 

主　　题：Steel arch splicing manipulator Single-DOF closed-loop mechanism Screw theory Graphical-type synthesis method Mechanism design 

摘      要：Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited *** arches often have a mass of more than 200 kg and length of more than 4 *** to the large volume and mass of steel arches and the high requirements for accurately positioning the splicing,it is difficult for a general manipulator to meet the stiffness *** enhance the structural stiffness of the steel arch splicing manipulator,a single-degree-of-freedom(DOF)closed-loop mechanism was added to the grasping structure of the *** on the basic principle of structural synthesis,a solution model of the single-DOF closed-loop mechanism was developed,and alternative kinematic pairs of the mechanism with different input constraints and output requirements were *** on this model,a design method for a single-DOF closed-loop grasping mechanism and a posture adjustment mechanism for a steel arch was *** with the same dimensional subspace equivalence principle of the graphical-type synthesis method,12 types of steel arch splicing manipulator were *** analyzing the motion/force transmission and structural complexity of the steel arch splicing manipulators,the best scheme was selected.A prototype of the steel arch splicing manipulator was *** software was used to obtain clearly the output trajectory of the end of the *** relative spatial positions of the upper and lower jaws under different working stages were analyzed,demonstrating that the manipulator satisfied the grasping *** a steel arch splicing experiment,the grasping effect,docking accuracy,and splicing efficiency of the manipulator met the design *** steel arch splicing manipulator can replace the manual completion of the steel arch splicing operation,significantly improving the operation efficiency.