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 8 上、下卡爪支链结构叠加

Fig.8 Superposition of upper and lower jaws chain structure