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Redundantly Actuated PRPRP Radial Mechanism in Segment Erector of Shield Machine for Synchronization Control

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Intelligent Robotics and Applications (ICIRA 2009)

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

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Abstract

The shield machine is a heavy construction machine for tunnel excavation. The segment erector is an important subsystem of the shield machine. The 2DOF five-bar radial mechanism in the 6DOF erector is hard to implement the precise synchronization control. Hence, this paper proposes a redundantly actuated PRPRP radial mechanism for the segment erector. When the redundant actuator is locked or produces enough pretightening stretching force, the PRPRP mechanism can ensure the synchronization of the two driving hydraulic cylinders based on the mechanical structure. The redundant actuator can also make the two flexural torques applied at the hydraulic cylinders be the same, which avoids the overload of the single cylinder.

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References

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Author information

Authors and Affiliations

  1. State Key Laboratory of CAD&CG, ZheJiang University, HangZhou, 310027, China

    Wanghui Bu, Zhenyu Liu & Jianrong Tan

Authors
  1. Wanghui Bu
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  2. Zhenyu Liu
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  3. Jianrong Tan
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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

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© 2009 Springer-Verlag Berlin Heidelberg

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Bu, W., Liu, Z., Tan, J. (2009). Redundantly Actuated PRPRP Radial Mechanism in Segment Erector of Shield Machine for Synchronization Control. 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_47

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_47

  • 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)

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