State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha, China.
School of Civil Engineering, Central South University, Changsha, China.
Sci Prog. 2023 Apr-Jun;106(2):368504231180025. doi: 10.1177/00368504231180025.
In order to overcome the low efficiency, high labor intensity and high risk of steel arch support operations in tunnel boring machines, a steel arch looping manipulator with multiple actuators was designed. Firstly, in order to simplify the complex design requirements of the manipulator, an exponential product model was established to analyze the influence of each single joint on the end output, and the manipulator was decomposed into different modules. The design is carried out separately, layer by layer, in the order of actuator-trunk module-branch module. Then, the optimal manipulator is obtained considering the limited space, equivalent flexibility, and joint control accuracy requirements. Finally, a prototype of the steel arch looping manipulator was manufactured and the feasibility of the manipulator was verified by experiments. The design method can provide a reference for the design of multi-actuator manipulator configuration in limited space.
为了克服隧道掘进机中钢拱架支护作业效率低、劳动强度大、风险高的问题，设计了一种具有多个执行器的钢拱架环形操纵器。首先，为了简化操纵器复杂的设计要求，建立了一个指数乘积模型来分析每个单个关节对末端输出的影响，并将操纵器分解为不同的模块。设计按照执行器-主体模块-分支模块的顺序进行分层设计。然后，考虑到有限的空间、等效灵活性和关节控制精度要求，对最优操纵器进行了优化。最后，制造了钢拱架环形操纵器的原型，并通过实验验证了操纵器的可行性。该设计方法可为有限空间中多执行器操纵器配置的设计提供参考。
