摘要
为满足盾构管片姿态微调需要,提高拼装精度及效率,提出基于3-SPS/1-S张拉整体并联机构设计管片拼装微调机构。给出总体方案及构型分析,机构仅有3个转角自由度,可实现管片横摇、俯仰及偏转动作。重点研究机构位置反解、正解及工作空间。运用RPY法推导旋转矩阵,得到位置反解表达式;给出位置正解的变步长搜索求解法;基于工作空间约束方程,分析体积求解方法。数值验证结果表明:(1)位置反解易求且具有唯一性;(2)位置正解不唯一,共有29组解值;(3)给定球铰最大转动值为35°,工作空间体积为0.768rad3。该机构可满足管片姿态微调要求,具有一定指导意义。
In order to meet the fine-tuning requirements of shield segments,and improve assembly accuracy and efficiency,a micro adjustment scheme based on the 3-SPS/1-S tensegrity parallel mechanism was proposed. The general planning and configuration analysis were given,and the mechanism has only 3 rotation degrees of freedom to realize roll,pitch and yaw motions of segments. The position inverse solution,position direct solution and workspace were mainly analysed. The RPY method was used to obtain the rotation matrix,and the position inverse solution expression was obtained. A variable-step search solution method for the position direct solution was given. And based on the workspace constraint equation,the volumetric solution method was studied. The numerical verification results show that:(1) The position inverse solution is simple and unique.(2)The position direct solution is not unique,and there are 29 sets of solution values.(3)The maximum rotation value of the given spherical hinge is 35°,and the workspace volume is 0.768 rad3.The mechanism can meet the finetuning requirements of the segment erector and has certain guiding significance.
作者
郭京波
张海东
纪志飞
李杰
GUO Jing-bo;ZHANG Hai-dong;JI Zhi-fei;LI Jie(School of Mechanical Engineering,Shijiazhuang Tiedao University,Hebei Shijiazhuang050043,China;College of Mechanical and Energy Engineering,Jimei University,Fujian Xiamen361021,China)
出处
《机械设计与制造》
北大核心
2020年第8期284-287,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51275321)
河北省自然科学基金资助项目(E2015210058)。
