Design and Trajectory Planning of Muck Removal Robot for Tunnel Boring Machine
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摘要: 针对TBM施工过程隧道底部积渣清理和运输的难题，提出了一种基于机器人系统智能作业的积渣清运方法.首先，依据施工需求提取积渣清运机器人的设计边界，凝练设计参数，设计一种可折叠冗余自由度的新型机器人机构；其次，结合实际作业工艺建立机构运动学模型，基于运动学模型和蒙特卡洛法进行工作空间计算和分析；再次，针对运动过程对机器人末端执行器运动精度、作业效率的不同需求，将运动轨迹进行分段并开发差异化算法轨迹规划与仿真分析；最后基于积渣清运机器人系统样机进行试验，验证了所提方案和算法的可行性.Abstract: Aiming at the problem of cleaning and transportation of muck at the bottom of the tunnel during TBM construction,a method of muck removal based on robot intelligent operation was proposed.Firstly,according to construction requirements,the boundary conditions for the design of the muck removal robot were extracted,and a new robot mechanism with foldable redundant degrees of freedom was designed,featuring narrow installation space and large operation scale;Secondly,combined with the actual operation process,the kinematics model was derived by using D-H parameter method,and the workspace of the robot was calculated and analyzed based on Monte Carlo method;Thirdly,according to the different requirements of the motion process on the motion accuracy and efficiency of the end effector,different algorithms were developed for trajectory planning and simulation;Finally,the feasibility of the proposed scheme and algorithm is verified by experiments based on the prototype of the slag removal robot system.
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1. 张珈瑞，姜礼杰，贾连辉，龚国芳，杨华勇，韩冬. 隧道掘进机清渣机械臂运动控制. 液压与气动. 2024(12): 1-10 . 
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