Wei Weng, ∗,∗∗ Yuanfu He,∗∗∗ Zhen Xu,∗∗∗∗ Xiangpan Zheng,∗∗∗ and Xinyi Yu∗∗∗∗∗
Steel arch gripping mechanism, screw theory, driving force model, fuzzy random variable, error principle, gripping reliability
To enhance the efficiency and quality of steel arch support in tunneling projects, a steel arch splicing robot is proposed to substitute manual labor. The gripping reliability of its gripping mechanism is analysed using fuzzy random variables. Combining the screw theory and the principle of virtual work, the driving force model of the steel arch gripping mechanism is established. The gripping performance function of the gripping mechanism is proposed, and the gripping reliability model is established by combining the driving force error. Based on the fuzzy decomposition theorem, the gripping reliability of the mechanism based on fuzzy random variables is analysed. Taking the smoothness of the gripping action and the precision of the mass of the steel arch as variables, the minimum driving force of the gripping mechanism is optimised based on the gripping reliability, and the correctness of the model is verified by prototype experiments. The results show that improving the precision of the steel arch mass and reducing the mechanism vibration can effectively lower the required minimum driving force when the gripping reliability is required to be over 0.8. This research provides an efficient and reliable solution for steel arch installation in tunneling projects. ∗ School of Intelligent Manufacturing, Fujian Polytechnic of Information Technology, Fuzhou, Fujian 350003, China; e- mail: [email protected] ∗∗ Fujian Robot-Automation Equipment Co., Ltd, Fuzhou, Fujian, China; e-mail: [email protected] ∗∗∗ College of Physics and Electronic Information Engineering, Minjiang University, Fuzhou, Fujian 350108, China; e-mail: [email protected], [email protected] ∗∗∗∗ China Railway Construction Heavy Industry Co., Ltd., Changsha, Hunan 410131, China; e-mail: [email protected] ∗∗∗∗∗ Fujian Key Laboratory of Intelligent Processing Technology and Equipment, Fujian University of Technology, Fuzhou, Fujian 350011, China; e-mail: [email protected] Corresponding author: Yuanfu He
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