Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method
Abstract In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic perf...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2024-06-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-024-64439-0 |
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| _version_ | 1832585723831648256 |
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| author | Lianhui Jia Shenyao Liu Chenxu Cao Yehao Kang Ying Zhu Lijun Wang Donglai Xu Ruixue Cheng |
| author_facet | Lianhui Jia Shenyao Liu Chenxu Cao Yehao Kang Ying Zhu Lijun Wang Donglai Xu Ruixue Cheng |
| author_sort | Lianhui Jia |
| collection | DOAJ |
| description | Abstract In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic performance of the mechanism, this paper studies the forward and inverse kinematics and spatial architecture of the TBM shotcrete robot. Firstly, based on the D–H parameter method, the number of joints and links is determined and structural analysis is performed to obtain the robot's forward kinematics equation, achieving the mapping between joint space and pose space. Then, by determining the joint variables, the mapping of the end tool in Cartesian space is achieved. Finally, based on the Monte Carlo random sampling method, the workspace of the robot is constructed, and its reachability and flexibility within the robot workspace are evaluated. The performance of the device is verified by building a prototype, which meets the requirements well. Through the research in this paper, it can provide theoretical basis and guidance for the design and control of the shotcrete robot. |
| format | Article |
| id | doaj-art-8e26e987c4504c2bbb6c461743ddc002 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-06-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-8e26e987c4504c2bbb6c461743ddc0022025-01-26T12:34:36ZengNature PortfolioScientific Reports2045-23222024-06-0114111210.1038/s41598-024-64439-0Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter methodLianhui Jia0Shenyao Liu1Chenxu Cao2Yehao Kang3Ying Zhu4Lijun Wang5Donglai Xu6Ruixue Cheng7China Railway Engineering Equipment Group CoSchool of Mechanical Engineering, North China University of Water Resources and Electric PowerChina Railway Engineering Equipment Group CoSchool of Mechanical Engineering, North China University of Water Resources and Electric PowerChina Railway Engineering Equipment Group CoSchool of Mechanical Engineering, North China University of Water Resources and Electric PowerSchool of Computing, Engineering and Digital Technologies, Teesside UniversitySchool of Computing, Engineering and Digital Technologies, Teesside UniversityAbstract In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic performance of the mechanism, this paper studies the forward and inverse kinematics and spatial architecture of the TBM shotcrete robot. Firstly, based on the D–H parameter method, the number of joints and links is determined and structural analysis is performed to obtain the robot's forward kinematics equation, achieving the mapping between joint space and pose space. Then, by determining the joint variables, the mapping of the end tool in Cartesian space is achieved. Finally, based on the Monte Carlo random sampling method, the workspace of the robot is constructed, and its reachability and flexibility within the robot workspace are evaluated. The performance of the device is verified by building a prototype, which meets the requirements well. Through the research in this paper, it can provide theoretical basis and guidance for the design and control of the shotcrete robot.https://doi.org/10.1038/s41598-024-64439-0 |
| spellingShingle | Lianhui Jia Shenyao Liu Chenxu Cao Yehao Kang Ying Zhu Lijun Wang Donglai Xu Ruixue Cheng Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method Scientific Reports |
| title | Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method |
| title_full | Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method |
| title_fullStr | Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method |
| title_full_unstemmed | Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method |
| title_short | Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method |
| title_sort | kinematics and spatial structure analysis of tbm gunite robot based on d h parameter method |
| url | https://doi.org/10.1038/s41598-024-64439-0 |
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