Skip to main content
SpringerLink
Log in
Book cover

International Conference on Intelligent Robotics and Applications

ICIRA 2009: Intelligent Robotics and Applications pp 355–363Cite as

Position and Attitude Precision Analysis of Segment Erector of Shield Tunneling Machine

  • Conference paper

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

Abstract

Focusing on a segment erector of a shield tunneling machine developed with 6 degrees of freedom and controlled by electro-hydraulic proportional systems, kinematics for the segment erection process is presented. The perturbation method in error analysis is introduced to establish the position and attitude error model, considering a number of factors such as hydraulic drive and control accuracy, tolerance in manufacturing and assembly. Dynamic simulations are carried out to obtain the controlling precision of the electro-hydraulic drive systems. Formulas for calculating the position and attitude error of the grip hand of the segment erector are derived. The calculation results verify the practicality and effectiveness of error analysis, providing a foundation for practical designing, manufacturing and assembling of the segment erecting mechanism.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Wada, M.: Automatic Segment Erection System for Shield Tunnels. Advanced Robotics 5(4), 429–443 (1991)

    Article  MathSciNet  Google Scholar 

  2. Yali, H., Kui, C.: Segment Erecting Technique of Shield Tunneling in Najing Metro. Tunnel Construction 23(2), 16–17 (2003)

    Google Scholar 

  3. Yasuo, T.: Automatic Segment Assembly Robot for Shield Tunneling Machine. Computer-Aided Civil and Infrastructure Engineering 10(5), 325–337 (2008)

    Google Scholar 

  4. Tanaka, Y.: Automatic Segment Assembly Robot for Shield Tunneling Machine. Micro- computers in Civil Engineering 10(5), 325–337 (1995)

    Article  Google Scholar 

  5. Youlun, X.: Fundamental of Robotics. Huazhong University of Science and Technology Press, Wuhan (1996)

    Google Scholar 

  6. Guotai, J., Egorov, O.D., Yueqing, Y.: A Method for Calculating Position and Orientation Errors of Industrial Robot. Mechanical Science and Technology 21(1), 35–37 (1999)

    Google Scholar 

  7. Shuanghua, Y., Yilun, W., Lixun, Z., Ce, Z., Caixia, C.: Location Precision Analysis of Underwater Robot Auto-toolkit. Journal of Harbin Engineering University 22(2), 46–50 (2001)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, Zheda Road No. 38, 310027, China

    Hu Shi, Guofang Gong, Huayong Yang & Rulin Zhou

Authors
  1. Hu Shi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guofang Gong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Huayong Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Rulin Zhou
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

Rights and permissions

Reprints and permissions

Copyright information

© 2009 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Shi, H., Gong, G., Yang, H., Zhou, R. (2009). Position and Attitude Precision Analysis of Segment Erector of Shield Tunneling Machine. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_35

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-10817-4_35

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation