Forward and Inverse Kinematic Solutions and Error Analysis for a Segment Erector With Large Translation Function

ZHU Yeting; BI Xiangli; HUANG Dezhong; ZHUANG Qianwei; YANG Zheng; ZHAI Yixin; WANG Zeyuan

doi:10.3973/j.issn.2096-4498.2024.11.005

Tunnel Construction >

2024 , Vol. 44 >Issue 11: 2149 - 2158

DOI: https://doi.org/10.3973/j.issn.2096-4498.2024.11.005

Forward and Inverse Kinematic Solutions and Error Analysis for a Segment Erector With Large Translation Function

ZHU Yeting ,
BI Xiangli ,
HUANG Dezhong ,
ZHUANG Qianwei ,
YANG Zheng ,
ZHAI Yixin ,
WANG Zeyuan

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(1. Shanghai Tunnel Engineering Co., Ltd., Shanghai 200032, China; 2. Shanghai Shentong Metro Co., Ltd., Shanghai 201102, China; 3. Department of Geotechnical Engineering, Tongji University, Shanghai 200092, China)

Online published: 2024-12-12

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Abstract

Accurately determining the spatial pose of segment erectors and motion targets for each joint in automated segment assembly is challenging. To address this drawback, a kinematic calculation model has been developed for a six-degree-of-freedom assembly erector, featuring a large translation function. A high-precision forward and inverse kinematics analysis method, incorporating critical factors such as differential extension and retraction of lifting hydro-cylinders, asymmetric design of lifting beams, and quantitative extension of a small suction cup′s hydro-cylinder, is proposed. A forward kinematic solution-based calculation method is introduced to quantify the impact of joint motion errors on the positioning accuracy of the erector′s end-effector. Key findings are as follows: (1) The position accuracy of the segment erector′s end is less than 0.2 mm after cross checking between the forward kinematics and three-dimensional design model results. (2) Deflection, pitch, and rotation motions of the suction cup exhibit mutual interference. Nevertheless, the simplified inverse kinematic solution achieves a target motion accuracy of less than 0.5 mm, satisfying the requirements for automatic assembly. (3) If the execution error of the erector′s rotation angle exceeds 0.1°, then the resulting end position deviation exceeds 7 mm, highlighting the need for further optimization of the rotation mechanism′s design.

Key words： shield segment; segment erector; forward and inverse solutions; error analysis

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ZHU Yeting , BI Xiangli , HUANG Dezhong , ZHUANG Qianwei , YANG Zheng , ZHAI Yixin , WANG Zeyuan .

Forward and Inverse Kinematic Solutions and Error Analysis for a Segment Erector With Large Translation Function

[J]. Tunnel Construction, 2024 , 44(11) : 2149 -2158 . DOI: 10.3973/j.issn.2096-4498.2024.11.005

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