Kinematics and spatial structure analysis of TBM gunite robot based on D–H parameter method

摘要

In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic performance of the mechanism, this paper studies the forward and inverse kinematics and spatial architecture of the TBM shotcrete robot. Firstly, based on the D-H parameter method, the number of joints and links is determined and structural analysis is performed to obtain the robot's forward kinematics equation, achieving the mapping between joint space and pose space. Then, by determining the joint variables, the mapping of the end tool in Cartesian space is achieved. Finally, based on the Monte Carlo random sampling method, the workspace of the robot is constructed, and its reachability and flexibility within the robot workspace are evaluated. The performance of the device is verified by building a prototype, which meets the requirements well. Through the research in this paper, it can provide theoretical basis and guidance for the design and control of the shotcrete robot.