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

Area of Science:

• Robotics and Automation
• Civil Engineering
• Mechanical Engineering

Background:

• Tunnel construction relies heavily on Tunnel Boring Machines (TBMs).
• Automated tunnel wall reinforcement is crucial for efficiency and safety.
• Existing TBMs require enhanced capabilities for integrated shotcrete application.

Purpose of the Study:

• To design and evaluate a shotcrete mechanism integrated with a TBM.
• To analyze the forward and inverse kinematics and spatial architecture of the TBM-mounted shotcrete robot.
• To assess the workspace, reachability, and flexibility of the shotcrete robot.

Main Methods:

• Utilized the D-H parameter method for structural analysis and forward kinematics.
• Determined joint variables for end-effector mapping in Cartesian space.
• Employed Monte Carlo random sampling to construct and evaluate the robot's workspace.

Main Results:

• Derived the forward kinematics equation, mapping joint space to pose space.
• Successfully mapped the end tool's position in Cartesian space.
• Constructed the robot's workspace, evaluating its reachability and flexibility.

Conclusions:

• The developed TBM shotcrete robot demonstrates effective kinematic performance.
• Prototype verification confirms the mechanism meets design requirements.
• Provides a theoretical foundation for designing and controlling automated shotcrete robots in tunneling.