The Type Synthesis and Kinematics of a New Segment Erector

摘要：

The segment erector is a typical robotic device and a very important part of the shield machinewhich grips, transports and locates the concretesegments to construct the tunnel inwall. In this paper anew segment erector is proposed and analyzed. Firstly, the type synthesis is performed based on taskdecomposition into serial-parallel hybrid structure and anew configuration of (1T+1R+1PS&3UPS) is presented for the segment erector design. Then the kinematic models are built and the kinematic performances are analyzed for the new segment erector. At last, the new design is illustrated by simulation and a prototype isdeveloped in the lab.

关键词： Segment erector Type synthesis GF Set Simulation Prototype

作者: Wentao Guo Weizhong Guo Feng Gao

作者单位: Shanghai Jiaotong University Shanghai,China

会议类型: 国际会议

会议名称: 第二届机器人与机电一体化国际学术会议

会议地点: 上海

会议语种:英文

页码: 1-6

在线出版日期: 2011-10-14（万方平台首次上网日期，不代表论文的发表时间）