To improve the adaptability of TBMs in diverse geological environments,this paper proposes a reconfigurable Type-V thrust mechanism(V-TM)with rearrangeable working states,in which structural stiffness can be automatic...To improve the adaptability of TBMs in diverse geological environments,this paper proposes a reconfigurable Type-V thrust mechanism(V-TM)with rearrangeable working states,in which structural stiffness can be automatically altered during operation.Therefore,millions of configurations can be obtained,and thousands of instances of working status per configuration can be set respectively.Nonetheless,the complexity of configurations and diversity of working states contributes to further complications for the structural stiffness algorithm.This results in challenges such as difficulty calculating the payload compliance index and the environment adaptability index.To solve this problem,we use the configuration matrix to describe the relationship between propelling jacks under reconfiguration and adopt pattern vectors to describe the working state of each hydraulic cylinder.Then,both the dynamic compatible equation between propeller forces of the hydraulic cylinders and driving forces,and the kinematic harmonizing equation between the hydraulic cylinder displacements and their deformations are established.Next,we derive the stiffness analytical equation using Hooke’s law and the Jacobian Matrix.The proposed approach provides an effective algorithm to support structural rigidity analysis,and lays a solid theoretical foundation for calculating the performance indexes of the V-TM.We then analyze the rigidity characteristics of typical configurations under different working states,and obtain the main factors affecting structural stiffness of the V-TM.The results show the deviation degree of structural parameters in hydraulic cylinders within the same group,and the working status of propelling jacks.Finally,our constructive conclusions contribute valuable information for matching and optimization by drawing on the factors that affect the structural rigidity of the V-TM.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51675180)National Key Basic Research Program of China(973 Program,Grant No.2013CB037503)
文摘To improve the adaptability of TBMs in diverse geological environments,this paper proposes a reconfigurable Type-V thrust mechanism(V-TM)with rearrangeable working states,in which structural stiffness can be automatically altered during operation.Therefore,millions of configurations can be obtained,and thousands of instances of working status per configuration can be set respectively.Nonetheless,the complexity of configurations and diversity of working states contributes to further complications for the structural stiffness algorithm.This results in challenges such as difficulty calculating the payload compliance index and the environment adaptability index.To solve this problem,we use the configuration matrix to describe the relationship between propelling jacks under reconfiguration and adopt pattern vectors to describe the working state of each hydraulic cylinder.Then,both the dynamic compatible equation between propeller forces of the hydraulic cylinders and driving forces,and the kinematic harmonizing equation between the hydraulic cylinder displacements and their deformations are established.Next,we derive the stiffness analytical equation using Hooke’s law and the Jacobian Matrix.The proposed approach provides an effective algorithm to support structural rigidity analysis,and lays a solid theoretical foundation for calculating the performance indexes of the V-TM.We then analyze the rigidity characteristics of typical configurations under different working states,and obtain the main factors affecting structural stiffness of the V-TM.The results show the deviation degree of structural parameters in hydraulic cylinders within the same group,and the working status of propelling jacks.Finally,our constructive conclusions contribute valuable information for matching and optimization by drawing on the factors that affect the structural rigidity of the V-TM.
