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

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.

  Info
Periodical
Chapter
Chapter 4: Fault Diagnose and Electronmechanical Control
Edited by
Zhixiang Hou
Pages
904-908
DOI
10.4028/www.scientific.net/AMM.128-129.904
Citation
Y. W. Zhang, B. Wei, G. H. Cui, N. Wang, "Local Stiffness and Dexterity Analysis of a 3-SPS-S Orientation Fine-Tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines", Applied Mechanics and Materials, Vols. 128-129, pp. 904-908, 2012
Online since
October 2011
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