Innovative Group-Decoupling Design of a Segment Erector Based on G_F Set Theory

作     者：GUO Wentao GUO Weizhong GAO Feng MO Pinxi 

作者机构：State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University 

基　　金：supported by National Natural Science Foundation of China(Grant No. 51275284) Program for New Century Excellent Talents in University of China(Grant No. NCET-10-0567) the Research Fund of State Key Lab of Mechanical Systems and Vibration(Grant No.MSV-ZD-2010-02) 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2013年第26卷第2期

页      码：264-274页

摘      要：The segment erector is a key part of the shield machines for tunnel engineering. The available segment erectors are all of serial configuration which is suffering from the problems of low rigidity and accumulative motion errors. The current research mainly focuses on improving assembly accuracy and control performance of serial segment erectors. An innovative design method is proposed featuring motion group-decoupling, based on which a new type of segment erector is developed and investigated. Firstly, the segment installation manipulation is analyzed and decomposed into three motion groups that are decoupled. Then the type synthesis for the 4-DOF motion group is performed based on the general function（GF） set theory and a new configuration of （1T？1R？1PS3UPS） is attained according to the segment manipulation requirements. Consequently, the kinematic models are built and the reducibility and accuracy are analyzed. The dexterity is verified though numerical simulation and no singular points appear in the workspace. Finally, a positioning experiment is carried out by using the prototype developed in the lab that demonstrates a 13.1% improvement of positioning accuracy and the feasibility of the new segment erector. The presented group-decoupling design method is able to invent new type of hybrid segment erectors that avoid the accumulative motion error of erecting.

主 题 词：segment erector group-decoupling design type synthesis parallel mechanism GF Set 

学科分类：081406[081406] 08[工学] 0814[工学-地质类] 082301[082301] 0823[工学-农业工程类] 

核心收录：

D　O　I：10.3901/CJME.2013.02.264

馆 藏 号：203211707...