2011年 第6卷 第4期
《机械工程前沿（英文）》 >> 2011年 第6卷 第4期 doi: 10.1007/s11465-011-0225-z
A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control
State Key Laboratory of CAD & CG, Zhejiang University, Hangzhou 310027, China
下一篇 上一篇
摘要
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.
京公网安备 11010502051620号
