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Innovative group-decoupling design of a segment erector based on G F set theory

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Abstract

The segment erector is a key part of the shield machines for tunnel engineering. The available segment erectors are all of serial configuration which is suffering from the problems of low rigidity and accumulative motion errors. The current research mainly focuses on improving assembly accuracy and control performance of serial segment erectors. An innovative design method is proposed featuring motion group-decoupling, based on which a new type of segment erector is developed and investigated. Firstly, the segment installation manipulation is analyzed and decomposed into three motion groups that are decoupled. Then the type synthesis for the 4-DOF motion group is performed based on the general function(G F ) set theory and a new configuration of (1T⊕1R⊕1PS&3UPS) is attained according to the segment manipulation requirements. Consequently, the kinematic models are built and the reducibility and accuracy are analyzed. The dexterity is verified though numerical simulation and no singular points appear in the workspace. Finally, a positioning experiment is carried out by using the prototype developed in the lab that demonstrates a 13.1% improvement of positioning accuracy and the feasibility of the new segment erector. The presented group-decoupling design method is able to invent new type of hybrid segment erectors that avoid the accumulative motion error of erecting.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Wentao Guo, Weizhong Guo, Feng Gao & Pinxi Mo

Authors
  1. Wentao Guo
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  2. Weizhong Guo
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  3. Feng Gao
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  4. Pinxi Mo
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Corresponding author

Correspondence to Weizhong Guo.

Additional information

This project is supported by National Natural Science Foundation of China(Grant No. 51275284), Program for New Century Excellent Talents in University of China(Grant No. NCET-10-0567), and the Research Fund of State Key Lab of Mechanical Systems and Vibration(Grant No. MSV-ZD-2010-02)

GUO Wentao, male, born in 1987, is currently a PhD candidate at State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, China. He received his bachelor degree from Shanghai Jiao Tong University, China, in 2009. His research interests include parallel mechanism and intelligent robotics. He published one conference paper about the type synthesis of parallel robot in 2011.

GUO Weizhong, male, born in 1970, is currently a full professor at Shanghai Jiao Tong University, China. He received his PhD degree from Shanghai Jiao Tong University, China, in 1999. His research interests include controllable mechanism, parallel kinematic mechanism, compliant mechanism and design of heavy-duty equipments. He patented 10 inventions, and authored and co-authored around 100 papers.

GAO Feng, male, born in 1956, is currently a full professor at Shanghai Jiao Tong University, China. He received his PhD degree from Beijing University of Aeronautics and Astronautics, China, in 1991. His research interests include parallel robotics and applications. He patented more than 50 inventions, and published around 200 papers.

MO Pinxi, male, born in 1989 is currently a PhD candidate at State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, China. He received his bachelor degree from Shanghai Jiao Tong University, China, in 2011. His research interests include parallel mechanism, mechanical vibration and acoustics. He published one paper in 2010.

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Guo, W., Guo, W., Gao, F. et al. Innovative group-decoupling design of a segment erector based on G F set theory. Chin. J. Mech. Eng. 26, 264–274 (2013). https://doi.org/10.3901/CJME.2013.02.264

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  • DOI: https://doi.org/10.3901/CJME.2013.02.264

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