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Dynamical Behavior of Redundant Thrusting Mechanical System in Shield Machines with Various Grouping Strategies

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

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Abstract

The thrusting system of shield machines is consisted of multiple hydraulic cylinders which are usually divided into four groups. The dynamical behavior of shield is closely dependent on the grouping strategies. In this context, the thrusting system is equivalent as a redundant actuating parallel mechanism. Two grouping strategies are used as 4147 and 4345 for sixteen hydraulic cylinders. The dynamical model of shield was established by using Newton-Euler method. The dynamical behavior is investigated considering the two grouping methods. The results show that the fluctuations of velocities and displacements of shied are obviously different for the two grouping strategies when the fraction of soft soil on the excavating face is changed. The grouping strategies should be determined based on the complex geological structures in order to reduce the blockage accidents.

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Author information

Authors and Affiliations

  1. Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, 200240, Shanghai, China

    Chunzhang Zhao, Haidong Yu & Yong Zhao

Authors
  1. Chunzhang Zhao
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  2. Haidong Yu
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  3. Yong Zhao
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Zhao, C., Yu, H., Zhao, Y. (2013). Dynamical Behavior of Redundant Thrusting Mechanical System in Shield Machines with Various Grouping Strategies. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_68

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_68

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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