全断面岩石隧道掘进机支撑-推进-换步机构静刚度分析
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摘要
针对全断面岩石隧道掘进机(Tunnel boring machine,TBM)在施工作业过程中掘进轨迹经常偏离预设轨迹、严重影响掘进精度及效率的问题,研究其支撑-推进-换步机构刚度半解析建模方法。从分析机构的变形协调条件入手,构造出计及所有支链构件及末端自身弹性贡献的半解析静刚度模型,该模型综合考虑了复杂物理边条(围岩)、机械系统刚度及液压系统刚度。通过算例揭示整机静刚度在掘进全域随位姿的变化规律,并借助有限元分析软件验证了所建模型的正确性。
To solve the problem that trajectories often deviate from the default trajectory in the construction process of tunnel boring machine(TBM), which seriously affects the accuracy and efficiency of tunneling, a semi-analytical stiffness model of the gripping-thrusting-regripping mechanism is formulated by analyzing the deformation compatibility conditions. This stiffness model accounts for the compliances of all limb components and moving platform, and considers the complex physical boundary condition(surrounding rock) and mechanical system stiffness and rigidity of the hydraulic system. The computational results are validated by finite element software.
To solve the problem that trajectories often deviate from the default trajectory in the construction process of tunnel boring machine(TBM), which seriously affects the accuracy and efficiency of tunneling, a semi-analytical stiffness model of the gripping-thrusting-regripping mechanism is formulated by analyzing the deformation compatibility conditions. This stiffness model accounts for the compliances of all limb components and moving platform, and considers the complex physical boundary condition(surrounding rock) and mechanical system stiffness and rigidity of the hydraulic system. The computational results are validated by finite element software.
引文
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[26]余海东,郝培,赵勇,等.硬岩掘进装备支撑系统界面接触刚度非线性特性[J].机械工程学报,2014,50(21):54-59.YU Haidong,HAO Pei,ZHAO Yong,et al.Non-linear behavior of normal contact stiffness of tunnel surface and supporting system of tunnel boring machines[J].Journal of Mechanical Engineering,2014,50(21):54-59.
[27]YAN W,KOMVOPOULOS K.Contact analysis of elastic-plastic fractal surfaces[J].Journal of Applied Physics,1998,84(7):3617-3624.
[28]GREENWOOD J A,WILLIAMSON J B P.Contact of nominally flat surfaces[J].Proceedings of the Royal Society A Mathematical Physical and Engineering Sciences,1966,295(1442):300-319.
[29]Service manual tunnel boring machine model MB264-311[Z].USA:The Robbins Company,2009.
[2]HUANG Tian,WANG Xiaolong,LIU Haitao,et al.Force analysis of an open TBM gripping-thrusting-regripping mechanism[J].Mechanism and Machine Theory,2016,98:101-113.
[3]SALISBURY J.Active stiffness control of a manipulator in Cartesian coordinates[C]//IEEE International Conference on Decision and Control,December 10-12,1980,Albuquerque,New Mexico.1980:95-100.
[4]GOSSELIN C.Stiffness mapping for parallel manipulator[J].IEEE Transactions on Robotics and Automation,1990,6(3):377-382.
[5]GOSSELIN C,ZHANG Dan.Stiffness analysis of parallel mechanisms using a lumped model[J].International Journal of Robotics and Automation,2002,17(1):17-27.
[6]GOLDSMITH P B.Kinematics and stiffness of a symmetrical 3-UPU translational parallel manipulator[C]//IEEE International Conference on Robotics and Automation,May 11-15,2002,Washington D.C.2002,4:4102-4107.
[7]MAJOU F,GOSSELIN C M,WENGER P,et al.Parametric stiffness analysis of the orthoglide[J].Mechanism and Machine Theory,2007,42(3):296-311.
[8]CHI Zhongzhe,ZHANG Dan.Stiffness optimization of a novel reconfigurable parallel kinematic manipulator[J].Robotica,2012,30(3):433-447.
[9]JOSHI S A,TSAI L W,Jacobian analysis of limited-DOF parallel manipulators[J].Journal of Mechanical Design,2002,124(2):341-348.
[10]ZHU S,HUANG Z A.Novel method for Jacobian analysis of lower-mobility parallel mechanism pulators using the generalized Jacobian[C]//IEEE International Conference on Intelligent Robots and Systems,October9-15,2006,Beijing,China.2006:2139-2143.
[11]ZHANG Dan,GOSSELIN C M.Kinetostatic modeling of N-DOF parallel mechanisms with a passive constraining leg and prismatic actuators[J].Journal of Mechanical Design,2001,123:375.
[12]XU Qingsong,LI Yangmin.An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory[J].Robotics and Computer-Integrated Manufacturing,2008,24(3):402-414.
[13]王友渔,黄田,CHETWYND D G,等.Tricept机械手静刚度解析建模方法[J].机械工程学报,2008,44(8):13-19.WANG Youyu,HUANG Tian,CHETWYND D G,et al.Analytical method for stiffness modeling of the Tricept robot[J].Chinese Journal of Mechanical Engineering,2008,44(8):13-19.
[14]WANG Youyu,LIU Haitao,HUANG Tian,et al.Stiffness modeling of the Tricept robot using the overall jacobian matrix[J].ASME Journal of Mechanisms and Robotics,2009,1(2):1-8.
[15]汪满新,王攀峰,黄田,等.4自由度混联机器人静刚度分析[J].机械工程学报,2011,47(15):9-16.WANG Manxin,WANG Panfeng,HUANG Tian,et al.Stiffness analysis of a 4-DOF robot[J].Journal of Mechanical Engineering,2011,47(15):9-16.
[16]刘海涛.少自由度机器人机构一体化建模理论、方法及工程应用[D].天津:天津大学,2010.LIU Haitao.Unified parameter modeling of lower mobility robotic manipulators:Theory,methodology and application[D].Tianjin:Tianjin University,2010.
[17]HUANG Tian,LIU Haitao,DEREK G C.Generalized Jacobian analysis of lower mobility manipulators[J].Mechanism and Machine Theory,2011,46(6):831-844.
[18]LIU Haitao,LI Yonggang,HUANG Tian,et al.An approach for stiffness modelling of lower mobility parallel manipulators using the generalized Jacobian[C]//World Congress in Mechanism and Machine Science,June 19-23,2011,Guanajuato,México.2011:19-25.
[19]EI-KHASAWNEH B S,FERREIRA P M,Computation of stiffness and stiffness bounds for parallel link manipulators[J].International Journal of Machine Tools and Manufacture,1999,39(2):321-342.
[20]CORRADINI C,FAUROUX J C,KRUT S,et al,Rbaluation of a 4 degree of freedom parallel manipulator stiffness[C]//World Congress in Mechanism and Machine Science.August 18-21,2003,Tianjin,China.2003:1857-1861.
[21]BOUZGARROU B C,FAUROUX J C,GOGU G,et al,Rigidity analysis of T3R1 paralllel robot with uncoupled kinematics[C]//International Symposium on Robotics,March 23-26,2004,Paris,France.2004:1-6.
[22]NAGAI K,LIU Z H.A systematic approach to stiffness analysis of parallel mechanism and its comparison with FEM[C]//IEEE International Conference on Robotics and Automation,May 19-23,2008,Pasadena,California.2007:1543-1548.
[23]窦永磊,汪满新,王攀峰,等.一种6自由度混联机器人静刚度分析[J].机械工程学报,2015,51(7):38-44.DOU Yonglei,WANG Manxin,WANG Panfeng,et al.Stiffness analysis of a 6-DOF hybrid robot[J].Journal of Mechanical Engineering,2015,51(7):38-44.
[24]冯斌.液压油有效体积弹性模量及测量装置的研究[D].杭州:浙江大学,2011.FENG Bin.Study on effective fluid bulk modulus and measurement in hydraulic systems[D].Hangzhou:Zhejiang University,2011.
[25]郝培,余海东,赵勇.考虑隧道表面特性的硬岩全断面掘进装备撑靴接触界面刚度分析[J].上海交通大学学报,2014(6):827-832.HAO Pei,YU Haidong,ZHAO Yong.Normal stiffness of tunnel surface contacting with thrusting boots of TBM with various surface characteristics[J].Journal of Shanghai Jiao Tong University,2014(6):827-832.
[26]余海东,郝培,赵勇,等.硬岩掘进装备支撑系统界面接触刚度非线性特性[J].机械工程学报,2014,50(21):54-59.YU Haidong,HAO Pei,ZHAO Yong,et al.Non-linear behavior of normal contact stiffness of tunnel surface and supporting system of tunnel boring machines[J].Journal of Mechanical Engineering,2014,50(21):54-59.
[27]YAN W,KOMVOPOULOS K.Contact analysis of elastic-plastic fractal surfaces[J].Journal of Applied Physics,1998,84(7):3617-3624.
[28]GREENWOOD J A,WILLIAMSON J B P.Contact of nominally flat surfaces[J].Proceedings of the Royal Society A Mathematical Physical and Engineering Sciences,1966,295(1442):300-319.
[29]Service manual tunnel boring machine model MB264-311[Z].USA:The Robbins Company,2009.