Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system

1996 ◽  
Vol 1 (3) ◽  
pp. 250-258 ◽  
Author(s):  
K. Kosuge ◽  
K. Takeo ◽  
D. Taguchi ◽  
T. Fukuda ◽  
H. Murakami
Keyword(s):  
Force Control ◽  
Shield Tunnel ◽  
Tunnel Excavation ◽  
Parallel Link ◽  
Task Oriented

Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators’ Forces Fuzzy Compensation

2002 ◽  
Vol 6 (3) ◽  
pp. 100-108 ◽  
Author(s):  
Zakarya Zyada ◽  
◽  
Yasuhisa Hasegawa ◽  
Toshio Fukuda
Keyword(s):  
Motion Control ◽  
Control Algorithm ◽  
Shield Tunnel ◽  
Rule Base ◽  
Hydraulic Actuator ◽  
Force Estimation ◽  
Tunnel Excavation ◽  
Friction Forces ◽  
Parallel Link

This paper proposes fuzzy compensation for actuators’ motion forces, (dynamics, gravity and friction) in a force/motion control algorithm for the assembly of segments of a shield tunnel excavation applying a 6 DOF hydraulic parallel link manipulator. First, we introduce the feedback force/motion control algorithm with fuzzy forces compensation. Then, we introduce a rule-base fuzzy compensating model and its real-time implementation for every hydraulic actuator of a Stewart Platform so that we can reduce the effect of friction forces and hence improve the quality of force control and assembly. The experimental results of the control system with and without fuzzy compensation are presented, which show a good achievement in contact force estimation and manipulator motion utilizing the proposed fuzzy compensation.

Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator

2013 ◽  
Vol 25 (6) ◽  
pp. 897-905 ◽  
Author(s):  
Takayuki Onodera ◽  
◽  
Eiji Suzuki ◽  
Ming Ding ◽  
Hiroshi Takemura ◽  
...  
Keyword(s):  
Ankle Joint ◽  
Force Control ◽  
Physical Therapists ◽  
Viscous Damping ◽  
Mean Square ◽  
Assist Device ◽  
Link Mechanism ◽  
Parallel Link ◽  
And Control ◽  
Ankle And Foot

The number of physically disabled people in need of rehabilitation is increasing. Unfortunately, there is a shortage of physical therapists specializing in such rehabilitation. This has increased the demand for rehabilitation assist devices that can lessen the burden of physical therapists. In this study, the authors develop a device that can assist in the rehabilitation of the ankle joint by employing a Stewart-platform (SP)-type parallel-link mechanism. With the SP-type parallel-link mechanism, it is possible to measure and control six degrees-of-freedom (DOFs) of ankle-foot movement during rehabilitation. Because the device enables the measurements of the ankle and foot, it is possible to calculate the instantaneous center of the ankle joint. In previous studies, the authors proposed methods to calculate and control the posture of the ankle and foot by an SP-type parallel-link mechanism and verified their accuracy. In this paper, the authors propose a method for force control using the device and also verify its accuracy. Using this device, the force acting on the ankle-foot can be controlled by six air cylinders. The force produced by a single air cylinder is determined by controlling the pressures in the extension and retraction directions. The accuracy of the force control method is verified for a single air cylinder and for the assist device when all six air cylinders are engaged. Results show that the accuracy of the single air cylinder has a mean square error of 0.24 N or less, while those for force control of the entire device are 4.2 N or less for parallel translation and 3.2 Nm or less for rotation. This demonstrates a satisfactory accuracy. To incorporate rehabilitation assistance by means of stiffness or viscous damping in the future, the authors also propose methods to control the coefficients of stiffness and viscous damping of the air cylinder and verify their accuracy. The mean square errors for the accuracies in controlling the coefficients of stiffness and viscous damping are 3.4 N/m and 1.4 Ns/m, respectively, thus verifying the validity of the proposed methods.

Numerical Simulation of Shield Tunnel Passing Through Underground Structure

2011 ◽  
Vol 105-107 ◽  
pp. 886-891
Author(s):  
Yong Suo Li ◽  
Ke Neng Zhang ◽  
Mei Long Deng ◽  
Chang Bo Huang
Keyword(s):  
Numerical Simulation ◽  
Underground Structure ◽  
Frame Structure ◽  
Shield Tunnel ◽  
Engineering Practice ◽  
Underground Engineering ◽  
Shield Tunneling ◽  
Tunnel Excavation ◽  
Mine Excavation ◽  
End Wall

Shield tunneling is often adopted in underground engineering such as civil tunnel construction and mine excavation. The program FLAC3D is used to simulate the process of the tunnel excavation through underground structure in Shenyang in this paper. The analysis results show that,(1) the soil below the end wall suffers great displacement, when the shield approaches the end wall of underground framework from different directions, so the soil under the end wall needs to be reinforced. (2) Increasing pressure and volume of grouting can’t significantly reduce the amount of surface subsidence when the drilling of the shield acrosses through the independent foundation. (3) The influences of shielding to the construction are limited because of the constraint function to the surrounding rock above the tunnel by the great entire rigidity of under-ground framework. The results of numerical simulation exactly matches the monitoring data when the stiffness of under-ground frame structure is considered, and it can provide guidance for engineering practice.

Numerical Simulation on Effect of Shield Tunnel Construction on Pipelines with 45* Skew Angle and Tunnel

2014 ◽  
Vol 889-890 ◽  
pp. 1414-1416
Author(s):  
Dong Liang Guo ◽  
De Shen Zhao
Keyword(s):  
Horizontal Displacement ◽  
Vertical Displacement ◽  
Shield Tunnel ◽  
Tunnel Construction ◽  
Analysis Model ◽  
Skew Angle ◽  
Element Analysis ◽  
Tunnel Excavation ◽  
Soil Movement ◽  
The Right

Shield tunnel construction cause soil movement to harm the adjacent underground pipelines. This paper, taking Dalian Spring Street subway station as the background, uses the finite difference software to establish 3-D finite element analysis model to simulate the deformation of pipeline with 45* skew angle in the tunnel construction work. The results show: when the left tunnel push towards pipelines, due to the skew of the pipeline and tunnel, vertical displacement of pipelines is a certain shift to the left. When the right tunnel excavation is complete, the pipeline maximum settlement has a return to the center of the two tunnels. The settlement of pipeline is much bigger than horizontal displacement.

scholarly journals Integration of Multiband InSAR and Leveling Measurements for Analyzing the Surface Subsidence of Shield Tunneling at Beijing-Zhangzhou High-Speed Railway

2021 ◽  
Vol 2021 ◽  
pp. 1-24
Author(s):  
Yueguan Yan ◽  
Qian Yang ◽  
Zhihui Jia ◽  
Xiaoyi Zhang ◽  
Huayang Dai ◽  
...  
Keyword(s):  
High Speed ◽  
Ground Surface ◽  
Synthetic Aperture ◽  
Shield Tunnel ◽  
Shield Tunneling ◽  
Modern Life ◽  
Tunnel Excavation ◽  
High Speed Railway ◽  
Synthetic Aperture Radar Interferometry ◽  
Surrounding Environment

In modern life, metro and high-speed rails have become indispensable transportation and have been playing an important role in many areas, especially in cities. The metro and high-speed rails have varying degrees of impact on the surface and surrounding buildings, which must be carefully understood to minimize the risk of hazards. This work is aimed at investigating the deformation of ground surface and the surrounding structures, caused by the excavation of underground tunnels. Because of the spatiotemporal characteristics of the land subsidence induced by underground tunnel construction, the measurements obtained from InSAR (Synthetic Aperture Radar Interferometry) and leveling techniques are integrated to study the subsidence phenomenon of the ground surface above the shield tunnels and the surrounding buildings. The subsidence-related parameters, including the advance angles, lag angles, and boundary angles, are derived from the deformation results. This study suggests that leveling and InSAR observations can provide technical support to study the subsidence of dense buildings on the surface of shield tunnel excavation and to protect the surrounding environment.

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