1. College of Mechanical and Electrical Engineering, State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha 410083, China 2. China Railway Construction Heavy Industry Co. Ltd, Changsha 410100, China 3. China Railway Siyuan Survey and Design Group Co. Ltd, Wuhan 430063, China
A grasping docking mechanism for tunnel boring machine (TBM) steel arch splicing manipulators was proposed to improve the splicing efficiency of steel arch and reduce the impact of manual work on construction. Firstly, the configuration of the grasping docking mechanism was constructed by the graphic method. The mechanism was decomposed into two branch chains according to the mechanism function realization method, and the degree of freedom (DOF) space and the constraint space were obtained. Some homogenous subspaces of the DOF space of each branch chain were obtained according to the functional equivalence of the line graph. The overall configuration of the mechanism was obtained by superposing and combining the motion pairs of branch chains which were reasonable for each homogenous subspace. Then, the kinematics model of the mechanism was established, and the inverse solutions of the position and rotation angle of each slider were obtained. The performance index of the mechanism was proposed. The transmission performance of the grasp module was analyzed by using the screw theory, and results show that the global transfer index of the grasping docking mechanism reached at least 0.75, which has good transfer performance, and the maximum value of its working space should be less than π/2. Finally, the prototype of the grasping docking mechanism was made, and experiments were conducted on the grasping process of the steel arch to verify the feasibility of the mechanism.
Tab.1Representation and significance of line graph
Fig.1Partial basic line space mapping
Fig.2Flow chart of design of graphic method
Fig.3Manual splicing of steel arch
Fig.4Schematic diagram of steel arch installation
Fig.5New steel arch structure
同维子空间
运动简图
Tab.2Same-dimensional subspace and kinematic pair of line graph
Fig.6DOF space of lower jaw chain
同维子空间
运动简图
Tab.3Same-dimensional subspace and kinematic pair of line graph one
同维子空间
运动简图
Tab.4Same-dimensional subspace and kinematic pair of line graph two
Fig.7DOF space of upper jaw chain
Fig.8Superposition of upper and lower jaws chain structure
Fig.9Optional configuration for grasping docking mechanism
Fig.10Schematic diagram of structure of grasping docking mechanism
Fig.11Schematic diagram of grasp module
Fig.12Kinematic modeling of grasping docking mechanism
Fig.13Schematic diagram of steel arch grasp
Fig.14Schematic diagram of closed loop mechanism of grasp module
Fig.15Relationship between workspace and global transfer index
时间/s
控制速度/（mm·s?1）
1号油缸
2号油缸
3号油缸
4号油缸
0~10
0
0
12.50
12.00
10~20
13.00
0
0
0
20~40
0
0
6.25
5.00
40~60
0
6.25
0
0
Tab.5Speed control of each cylinder of mechanism
Fig.16Grasping docking mechanism prototype
Fig.17Speed curve of upper and lower jaws
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