摘要
【目的】针对全断面硬岩掘进机(Tunnel Boring Machines,TBMs)在复杂工况下灵活性不足的问题,研究其大型液驱并联机器人的结构与性能,旨在验证并联机器人在重型装备制造领域的适用性,并为提升TBM的小转弯半径掘进能力提供依据。【方法】首先,进行了并联机器人的运动学分析和动力学分析;其次,根据液驱并联机器人的构型参数,对其进行三维模型搭建;在此基础上,结合并联机构逆向运动学和动力学分析,对并联机构的冗余驱动内力分配方法进行研究并进行动力学仿真分析,以验证其运动特性;再次,对大型并联机构进行有限元分析,验证该机构的强度与刚度,并分析了其结构可行性;最后,对其在掘进机推进系统上的应用进行了验证。【结果】结果表明,大型液驱并联机器人在重型装备中进行力控制和姿态控制时,均体现出良好的运动特性及足够的结构稳定性,能够满足机构性能指标要求;同时,大型液驱并联机器人的应用,增强了TBM应对小转弯半径等复杂工况的能力。
[Objective]To address the limited flexibility of tunnel boring machines(TBMs)under complex working conditions,the structural design and performance analysis of a large-scale hydraulically driven parallel robot was studied,aiming to validate its applicability in heavy equipment manufacturing and provide support for enhancing TBM’s capability in small-radius turning.[Methods]Initially,kinematic and dynamic analyses of the parallel robot were conducted.Subsequently,a three-dimensional model was constructed based on its configurational parameters.By integrating inverse kinematics and dynamics,the internal force distribution method for redundant actuation within the parallel mechanism was investigated,followed by dynamic simulation to confirm its kinematic characteristics.Finite element analysis was then applied to assess the strength,stiffness,and structural feasibility of the large-scale parallel mechanism.Verification was achieved through implementation in the TBM’s propulsion system.[Results]The results indicate that the large-scale hydraulically driven parallel robot demonstrates superior kinematic performance and ample structural stability during force and attitude control in heavy equipment,satisfying performance criteria.Furthermore,its application enhances TBM’s capability to navigate complex conditions,such as tight turns.
作者
王化北
徐莉萍
周小磊
郭冰菁
蔡留金
李健
WANG Huabei;XU Liping;ZHOU Xiaolei;GUO Bingjing;CAI Liujin;LI Jian(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China;China Railway Engineering Equipment Group Co.,Ltd.,Zhengzhou 450000,China;Key Laboratory of Robot and Intelligent System in Henan Province,Luoyang 471003,China)
出处
《机械传动》
北大核心
2025年第10期85-93,共9页
Journal of Mechanical Transmission
基金
河南省科技攻关项目(242102220116)。
