The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than...The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom（DOF）. However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no ＂best＂ PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.展开更多
针对在越江海高水压水下超大直径盾构隧道联络通道施工过程中缺乏足够的工程技术标准和案例经验、设计与施工面临众多挑战问题,以广州海珠湾超大直径盾构隧道区间的6条联络通道工程为例,对工程地质补勘资料及现场施工情况进行分析,揭示...针对在越江海高水压水下超大直径盾构隧道联络通道施工过程中缺乏足够的工程技术标准和案例经验、设计与施工面临众多挑战问题,以广州海珠湾超大直径盾构隧道区间的6条联络通道工程为例,对工程地质补勘资料及现场施工情况进行分析,揭示原矿山法设计施工方案存在的不足,并基于此提出“矿山法结合地层冻结加固方案”和“机械顶管法施工方案”2种优化方案;随后在安全性、经济性、施工工期等方面对不同工法进行综合优选分析,同时引入碳排放指标进行绿色低碳评估。研究结果表明:1)机械顶管法在安全性和施工效率上优于其他方案,能够显著缩短施工周期;2)相比矿山法结合地层冻结加固方案,机械顶管法方案碳排放量减少了2 747.51 t CO_(2e)。展开更多
文摘The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom（DOF）. However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no ＂best＂ PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.
文摘针对在越江海高水压水下超大直径盾构隧道联络通道施工过程中缺乏足够的工程技术标准和案例经验、设计与施工面临众多挑战问题,以广州海珠湾超大直径盾构隧道区间的6条联络通道工程为例,对工程地质补勘资料及现场施工情况进行分析,揭示原矿山法设计施工方案存在的不足,并基于此提出“矿山法结合地层冻结加固方案”和“机械顶管法施工方案”2种优化方案;随后在安全性、经济性、施工工期等方面对不同工法进行综合优选分析,同时引入碳排放指标进行绿色低碳评估。研究结果表明:1)机械顶管法在安全性和施工效率上优于其他方案,能够显著缩短施工周期;2)相比矿山法结合地层冻结加固方案,机械顶管法方案碳排放量减少了2 747.51 t CO_(2e)。
