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

图 6 下卡爪支链的自由度空间

Fig.6 DOF space of lower jaw chain