Drive system design and error analysis of the 6 degrees of freedom segment erector of shield tunneling machine

Abstract

Focusing on a segment erector of a shield-tunneling machine developed with 6 degrees of freedom (DOF) and controlled by electro-hydraulic proportional systems, the kinematics of the segment erection process is presented. The perturbation method in the error analysis is introduced to establish the position and attitude error model, considering a number of factors such as the hydraulic drive, control accuracy, and tolerance in manufacturing and assembly. Dynamic simulations are carried out to obtain the controlling precision of electrohydraulic drive systems. Formulas for calculating the position and attitude error of the grip hand of the segment erector are derived. The calculation results verify the practicality and effectiveness of the error analysis, providing a foundation for practical designing, manufacturing, and assembling of the segment of the erecting mechanism.

Keywords

shield tunneling machine / segment erector / kinematics / position and attitude precision

References

[1] Martin D. Japanese robot can erect tunnel segments. Tunnels and Tunnelling, 1990, 22(7): 54–55

[2] Masahumi W. Automatic segment erection system for shield tunnels. Advanced Robotics, 1990, 5(4): 429–443

[3] Kato T, Murano K. Development of segment automatic building intelligent system. Nkk Technical Review, 1991, (61): 52–58

[4] Kosuge K, Takeo K, Taguchi D, Fukuda T, Murakami H. Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system. IEEE/ASME Transactions on Mechatronics, 1996, 1(3): 250–258

[5] Han E L, Chen K. Segment erecting technique of shield tunneling in Najing Metro. Tunnel Construction, 2003, 23(2): 16–17

[6] Sakuma Y.Erector device for assembling segment. Japan Patent, JP20060017586 20060126, 2007.

[7] Tanaka Y. Automatic segment assembly robot for shield tunneling machine. Micro-computers in Civil Engineering, 1995, 10(5): 325–337

[8] Xiong Y L. Fundamental of Robotics. Wuhan: Huazhong University of Science and Technology Press, 1996 (in Chinese)

[9] Jiao G T, Egorov O D, Yu Y Q. A method for calculating position and orientation errors of industrial robot. Mechanical Science and Technology, 1999, 21(1): 35–37

[10] Yang S H, Wang Y L, Zhang L X, Zuo C, Cao C X. Location precision analysis of underwater robot auto-toolkit. Journal of Harbin Engineering University, 2001, 22(2): 46–50 (in Chinese)

Acknowledgments

This work was supported by the National Basic Research Program (973 Program) of China (Grant No. 2007CB714004) and the National High-tech Research and Development Program (863 Program) of China (Grant No. 2007AA041806).

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg