Shield Machine Positioning Algorithm Based on the Kinematic Solution of Parallel Mechanism

He, Boning; Zhu, Guoli; Zhang, Dailin; Liu, Rui

doi:10.1109/icbaie52039.2021.9389987

Cited by 2 publications

(2 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The shield machine can be simplified as a parallel mechanism (with the shield body as the moving platform, the hydraulic thrust cylinder as the parallel branch chain, and the segmental ring as the fixed platform) to determine its pose [11][12][13]. Thus, the forward solution strategy of the parallel mechanism can be used to obtain the forward solution of the shield tunneling pose.…”

Section: Introductionmentioning

confidence: 99%

Forward solution of shield tunneling pose based on the Newton–Raphson method

Han,

Wang,

Nie

et al. 2024

IOP Conf. Ser.: Earth Environ. Sci.

View full text Add to dashboard Cite

To achieve precise control of the shield tunneling pose, obtaining a real-time shield pose state during the excavation process is necessary to achieve closed-loop feedback control of the shield pose. This study proposes a forward solution method to address the high cost and low efficiency of direct measurement methods, such as using lasers and gyroscopes, for measuring shield pose. This method relies on the real-time measurement of the strokes of hydraulic thrust cylinders during shield tunneling. Based on the inverse kinematics of the shield machine, the Newton–Raphson method was used to calculate the shield tunneling pose. Accordingly, a forward solution algorithm for shield pose was developed using MATLAB, and the effectiveness of the proposed method was verified through an example analysis. The results demonstrated the high computational efficiency of the method, proving its potential application in real-time control systems for shield tunneling poses.

show abstract

Section: Introductionmentioning

confidence: 99%

Forward solution of shield tunneling pose based on the Newton–Raphson method

Han,

Wang,

Nie

et al. 2024

IOP Conf. Ser.: Earth Environ. Sci.

View full text Add to dashboard Cite

show abstract

“…With the help of these mathematical models, the application range of the automatic pose and trajectory system is greatly enlarged. He et al [21] carried out the kinematic modeling of the shield thrust mechanism for the demand of the shield machine's position solution with the kinematics analysis method of the parallel mechanism. The existing kinematic models provide the basic constraint relations for the practical position control system but restrict their applicability for the following reasons.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

et al. 2022

View full text Add to dashboard Cite

The hydraulic thrust system of the shield machine is used for driving forward and pose adjustment. It is of great significance to figure out the thrust mechanism and motion characteristics of the shield machine to ensure the safety of tunnel excavation. This study aims to develop a model to explore the influence of thrust cylinder advancement on the motions of the shield machine. Firstly, the study carried out mechanism analysis of the thrust mechanism for the shield machine and established a method to describe the position and attitude of the shield machine during the tunneling process by the homogeneous transformation matrix. Then, a new inverse kinematic model was proposed to quantify the relationship between the telescoping movements of cylinders and shield machine motions, and the Jacobian matrix was derived to solve the instantaneous kinematics analysis. Furthermore, a virtual prototype model was developed to simulate the kinematic behavior of the shield machine and validate the accuracy of the kinematic model. The model provides the basic constraint relations for the practical position control system and lays a strong foundation for the dynamic model and automatic trajectory tracking control of shield machines for future studies. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly. It can provide a reference for the pose control of the shield machine during the practical shield tunneling.

show abstract

Shield Machine Positioning Algorithm Based on the Kinematic Solution of Parallel Mechanism

Cited by 2 publications

References 5 publications

Forward solution of shield tunneling pose based on the Newton–Raphson method

Forward solution of shield tunneling pose based on the Newton–Raphson method

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

Contact Info

Product

Resources

About