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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Mechanical and Energy Engineering     
Trajectory planning for segment erector based on optimal space allowance
WANG Ming-dou, TAO Jian-feng, QIN Cheng-jin, LIU Cheng-liang
School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
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Abstract  
The working principle of quasi-rectangular tunnel segment erector was introduced and the forward and inverse kinematics solution were derived for the trajectory planning problem of quasi-rectangular tunnel segment erector. Then several key points were set on the manipulator contours; an optimization model was established based on the points; the maximum space allowance pose was taken as the middle part of erecting trajectory. The starting part and the terminal part were generated by using polynomial interpolation method in joint space. As results, every trajectory contains starting, middle and terminal part. The starting part is from starting point to the maximum space allowance pose. The middle part is the trajectory along maximum space allowance pose. The terminal part is from the maximum space allowance pose to goal point. The simulation experiments show that this method can plan out smooth trajectory from start point to goal point, and the erector can finish segment delivery tasks along these trajectories in narrow space safely and effectively.

Published: 01 March 2017
CLC:  TH 112  
  TU 6  
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WANG Ming-dou, TAO Jian-feng, QIN Cheng-jin, LIU Cheng-liang. Trajectory planning for segment erector based on optimal space allowance. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(3): 453-460.


空间余量最优的拼装机轨迹规划

针对类矩形盾构管片拼装轨迹规划问题,阐述类矩形盾构管片拼装机的工作原理并推导其运动学正逆解.在机械手外轮廓上设置若干关键点,建立关键点空间余量最优模型,并将空间余量最大位姿作为管片拼装轨迹的中间段；在关节空间内采用多项式插值法获取平滑的起始段与结束段轨迹.最终形成的轨迹包括起始段、中间段和结束段：起始段为起点至空间余量最大位姿点轨迹段,中间段为空间余量最大位姿运动轨迹段,结束段为空间余量最大位姿点至终点轨迹段.仿真实验表明:该方法能够规划出从起点至终点的无碰平滑轨迹,使得类矩形盾构管片拼装机在狭窄空间内安全有效地完成管片递送任务.

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