A Φ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

A Φ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited space. Steel arches often have a mass of more than 200 kg and length of more than 4 m. Owing to the large volume and mass of steel arches and the high requirement...

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Bibliographic Details
Main Authors: He, Y. (Author), Ning, B. (Author), Xia, Y. (Author), Xiao, X. (Author), Xu, Z. (Author), Yao, J. (Author)
Format: Article
Language:English
Published: Springer 2022
Subjects:
Arches
Boring machines (machine tools)
Closed-loop
Construction equipment
Degrees of freedom (mechanics)
Efficiency
Graphical-type synthesis method
Machine design
Manipulators
Mechanism design
Screw theory
Single degree of freedoms
Single-degree-of-freedom closed-loop mechanism
Single-DOF closed-loop mechanism
Steel arch splicing manipulator
Steel arches
Stiffness
Synthesis method
Type synthesis
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