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Research on Snake-Like Robot for Cutter Inspection in Tunnel Boring Machine

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14272))

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Abstract

While the applications of tunnel boring machine (TBM) are growing due to its high performance, the working mode of “robot replacing labor” is continuously increasing because of TBM’s harsh and confined space. Thus, snake-like robot, which is with superior dexterity and obstacle avoidance ability, are highly suitable for TBM cutter inspection. However, its large number of degrees of freedom (DOFs) makes the inverse kinematics and control strategy very complex. Therefore, the paper researches the efficient kinematics algorithm based on the geometric method, including tip-following and serpentine-scanning methods. Tip-following method achieves to send the end-effector to the target area, while serpentine-scanning method promises the scanning inspection on every cutter. Because of the particularity of the geometric method in this paper, the local coordinate frame and joint space are abandoned, but the “link eigen vector” is utilized to construct a simpler and more direct kinematic model. Simulation and experiment results show the proposed methods satisfy the real-time control and obstacle avoidance. Especially the engineering test shows the snake-like robot can meet the quick and reliable inspection task of the cutter and cutterhead.

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Acknowledgement

This work was supported by the Fundamental Research Funds for the Central Universities, Award Number: 226-2022-00016, the State Key Laboratory of Fluid Power and Mechatronic Systems Independent Project, Award Number: SKLoFP_ZZ_2106, and the National Key R&D Program of China, Award Number: 2022YFC3802300.

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Authors and Affiliations

  1. State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, Zhejiang, China

    Xiantong Xu, Haibo Xie, Cheng Wang & Huayong Yang

Authors
  1. Xiantong Xu
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  2. Haibo Xie
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  3. Cheng Wang
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  4. Huayong Yang
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Corresponding author

Correspondence to Haibo Xie .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Xu, X., Xie, H., Wang, C., Yang, H. (2023). Research on Snake-Like Robot for Cutter Inspection in Tunnel Boring Machine. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_8

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  • DOI: https://doi.org/10.1007/978-981-99-6480-2_8

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6479-6

  • Online ISBN: 978-981-99-6480-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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