Local Stiffness and Dexterity Analysis of a 3-SPS-S Orientation Fine-Tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines

2011 ◽  
Vol 128-129 ◽  
pp. 904-908
Author(s):  
Yan Wei Zhang ◽  
Bin Wei ◽  
Guo Hua Cui ◽  
Nan Wang
Keyword(s):  
Inverse Kinematics ◽  
Fine Tuning ◽  
Underground Space ◽  
Shield Tunneling ◽  
Stiffness Analysis ◽  
Performance Atlas ◽  
Tunneling Machine ◽  
Subway Tunnels ◽  
Local Stiffness ◽  
Operational Capacity

This study focus on the stiffness analysis of a three-DOF orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines. In underground space development, shield tunneling machines are widely used in subway tunnels, channel tunnels and other kinds of tunnels. As one of the key sub-devices in a shield tunneling machine, a segment assembly robot is used to automatically form the segment lining. In order to evaluate the operational capacity, an analysis of the inverse kinematics is conducted. The local performance atlas, including stiffness and dexterity, are investigated. The results show that the proposed orientation fine-tuning manipulator has good performances and it can meet the needs.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

Stiffness Analysis of a Spatial Parallel Mechanism With Flexible Moving Platform

2010 ◽  
Author(s):  
Amir Rezaei ◽  
Alireza Akbarzadeh ◽  
Javad Enferadi
Keyword(s):  
Inverse Kinematics ◽  
Strain Energy ◽  
Parallel Manipulators ◽  
Physical Structure ◽  
Fem Model ◽  
Lumped Model ◽  
Stiffness Analysis ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematics Problem ◽  
Moving Platform

In this paper, stiffness analysis of a 3-DOF spatial, 3-PSP type, parallel manipulator is investigated. Most previous stiffness analysis studies of parallel manipulators are performed using lumped model as well as assuming a rigid moving platform. In this paper, unlike traditional stiffness analysis, the moving platform is assumed to be flexible. Additionally, a continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano’s theorem [1]. For this purpose, first we solve inverse kinematics problem then We must find relationship between the applied external torques on the moving platform and the resultant joints forces. Next, strain energy moving platform is calculated. Strain energy of this element is calculated using force analysis and inverse kinematics problem. Finally, a FEM model is generated and used to simulate the physical structure. Simulation results are compared with the analytical model.

The effects of the pressure outlet's position on the diffusion and pollution of dust in tunnel using a shield tunneling machine

2018 ◽  
Vol 176 ◽  
pp. 232-245 ◽  
Author(s):  
Changqi Liu ◽  
Wen Nie ◽  
Qiu Bao ◽  
Qiang Liu ◽  
Cunhou Wei ◽  
...  
Keyword(s):  
Shield Tunneling ◽  
Shield Tunneling Machine ◽  
Tunneling Machine
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