Frontiers of Mechanical Engineering >

2011 , Vol. 6 >Issue 4: 463 - 467

DOI: https://doi.org/10.1007/s11465-011-0225-z

RESEARCH ARTICLE

A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control

  • Wanghui BU ,
  • Zhenyu LIU ,
  • Jianrong TAN ,
  • Jin CHENG
Expand
  • State Key Laboratory of CAD & CG, Zhejiang University, Hangzhou 310027, China

Received date: 11 Mar 2011

Accepted date: 20 May 2011

Published date: 05 Dec 2011

Copyright

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg
Fold

Abstract

The shield machine is a heavy construction machine for tunnel excavation, and the segment erector is an important subsystem of the shield machine. It is difficult to achieve precise control in the 6-DOF (degree of freedom) erector in the 2-DOF 5-bar radial mechanism. Hence, this paper proposes a redundantly actuated PRPRP radial mechanism for the segment erector. When the redundant actuator is unlocked, the radial mechanism is able to adjust its posture, which has two degrees of freedom. On the other hand, when the redundant actuator is locked or produces enough pre-tightening tensile force, the PRPRP mechanism can ensure the synchronization of the two driving hydraulic cylinders along the radial direction based on the mechanical structure, which has one degree of freedom. The redundant actuator also facilitates the equal application of two flexural torques at the hydraulic cylinders; thus, preventing the overload of a single cylinder.

Key words： redundant actuation; parallel mechanisms; five-bar mechanisms; segment erectors; shield machines

Cite this article

Wanghui BU , Zhenyu LIU , Jianrong TAN , Jin CHENG . A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control[J]. Frontiers of Mechanical Engineering, 2011 , 6(4) : 463 -467 . DOI: 10.1007/s11465-011-0225-z

Acknowledgements

We gratefully acknowledge the support provided by the National Basic Research Program of China (Nos. 2007CB714007 and 2011CB706503), the National Natural Science Foundation of China (Grant Nos. 51075357 and 51005199), the Fundamental Research Funds for the Central Universities (No. 2010QNA4026), the Postdoctoral Science Foundation of China (No. 20100471717), and the Zhejiang Provincial Natural Science Foundation of China (No. Y1090512).

References

Publishing order | Descend order by publishing year | Descend order by cited within
1
Takashi W, Toshiharub T, Tsuyoshic A, Katsuhiko M. Development of a new composite structure segment for large diameter shield tunnel. Tunnelling and Underground Space Technology, 2004, 19(4–5): 449–450

DOI

2
Qian X, Gao F, Guo W.Design and analysis of 6-DOF segment erector mechanism for shield machine. Machine design and research, 2008, 24(1): 17–20

3
Nokleby S B, Fisher R, Podhorodeski R P, Firmani F. Force capabilities of redundantly-actuated parallel manipulators. Mechanism and Machine Theory, 2005, 40(5): 578–599

DOI

4
Wu J, Wang J, Wang L. Optimal kinematic design and application of a redundantly actuated 3-DOF planar parallel manipulator. Journal of Mechanical Design, 2008, 130(5): 054503

DOI

5
Garg V, Nokleby S B, Carretero J A. Wrench capability analysis of redundantly actuated spatial parallel manipulators. Mechanism and Machine Theory, 2009, 44(5): 1070–1081

DOI

6
Bu W, Liu Z, Tan J, Gao S. Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning. Mechanism and Machine Theory, 2010, 45(6): 925–940

DOI

Options
Outlines

/

〈 〉