Abstract
This paper presents a 6-DOF hydraulic manipulator for replacing the disc cutters in the confined space of a TBM. Firstly, the mechanism design of the manipulator is briefly introduced, and the kinematics coordinate system is built based on the D-H kinematics modeling method. On the basis of the D-H parameters, a kinematics model of the manipulator is established, and forward kinematics analyses are conducted to obtain the relationship between the actuator’s position and the manipulator’s posture. Lastly, the workspace of the manipulator in restricted space is verified by numerical simulation software. Simulations indicate that the designed manipulator has sufficient motion range to meet the requirements of the disc cutter replacement. Furthermore, the established kinematics model provides a solid foundation for subsequent research on obstacle avoidance trajectory planning of the manipulator.
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Acknowledgements
This work was funded by Fundamental Research Funds for the Central Universities [Number: 226-2022-00016]; State Key Laboratory of Fluid Power and Mechatronic Systems Independent Project [Number: SKLoFP_ZZ_2106]; National Key R&D Program of China [Number: 2022YFC3802300].
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Zhu, T., Xie, H., Yang, H. (2023). Kinematics and Workspace Analysis of a Disc Cutter Replacement Manipulator for TBM in a Constrained Motion Space. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_18
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DOI: https://doi.org/10.1007/978-981-99-6480-2_18
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