类矩形盾构单机械臂管片拼装机静态误差计算

Static Error Calculation of Segment Erector with Single Manipulator for Quasi-Rectangular Shields

针对类矩形盾构施工中管片拼装机工作空间紧凑、管片姿态调整灵活的要求,开发了一种新型单机械臂管片拼装机。文章介绍了该拼装机的机构组成与工作原理,重点推导了该型拼装机在回转平面内的运动学正解与逆解公式,利用微分法给出了拼装机的静态误差传递模型,并分析了各个D-H参数误差对拼装机末端位姿误差的敏感性;通过数值计算及Solidworks仿真验证了相关计算公式的正确性。研究结果表明:在各个D-H参数误差中关节角误差对拼装机末端位姿误差的影响最大,即使在较小的D-H参数误差条件下拼装机末端也有较大的位姿误差,在相同的D-H参数误差条件下拼装机末端位姿误差在11块管片终点处存在较大差别。

The new segment erector with single manipulator is developed due to the requirements of compact work space and flexible segment adjustment during the construction of quasi-rectangular tunnel.This paper introduces the mechanism composition and operating principle of the erector,mainly deduces the direct and inverse solution formulas for the erector moving inside the rotary plane,while the static error propagation model is presented by differential theory,and then,the sensitivity of each D-H parameter error to the pose error of the erector end is analyzed;finally,the validity of relevant calculation formulas have been verified by numerical calculation and Solidworks simulation.The results show that the joint angle error has the greatest influence on the pose error of erector end;even in the case of small D-H parameter error,the pose error of erector end is still large,and under the condition of same DH parameter error,there are large differences in pose errors of erector end at end points of 11 segments.