TBM钢拱架拼接机械手抓取对接机构
何源福,夏毅敏,龙斌,邓朝辉,雷茂林,姚捷
Grasping docking mechanism of TBM steel arch splicing robot
Yuan-fu HE,Yi-min XIA,Bin LONG,Zhao-hui DENG,Mao-lin LEI,Jie YAO
表 5
机构各油缸的速度控制
Tab.5
Speed control of each cylinder of mechanism
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