市政技术2025，Vol.43Issue(11)：18-28,35,12.DOI:10.19922/j.1009-7767.2025.11.018
综合管廊预制混凝土内衬片安装6自由度机械臂设计和运动学建模研究
Research on Design and Kinematic Modeling of 6-DOF Manipulator for Installing Prefabricated Concrete Lining in the Utility Tunnels
摘要
Abstract
To replace manual labor,thereby enhancing the construction safety of prefabricated concrete lining in util-ity tunnels,improving the harsh construction environment,and raising the construction quality,a hydraulic-driven 6-Degree-of-Freedom(DOF)manipulator for installing prefabricated concrete lining is designed for the limited space of utility tunnel.Firstly,the installation process and requirements of prefabricated concrete lining in utility tunnel are analyzed.A 3D model of the 6-DOF manipulator is constructed by SolidWorks software.Subsequently,a kinematic model is established by the D-H method.The kinematic equations of the manipulator are derived,and the inverse kinematics is solved.Then,MATLAB/Robotics is applied to simulate and verify the forward and inverse kinematic models of the manipulator,and the workspace of the 6-DOF manipulator is analyzed.Finally,a prototype of the manipulator is used for verification.The results show that the 6-DOF manipulator has a reliable structural design and correct kinematic theoretical equations,which meets the requirements of prefabricated concrete lining installation in the utility tunnel.关键词
综合管廊/预制混凝土内衬片/6自由度机械臂/运动学模型Key words
utility tunnel/prefabricated concrete lining/6-DOF manipulator/kinematic model分类
建筑与水利引用本文复制引用
邵风行,杜海洋,杨哲辰,张慧娟..综合管廊预制混凝土内衬片安装6自由度机械臂设计和运动学建模研究[J].市政技术,2025,43(11):18-28,35,12.基金项目
宁波市重点研发计划(2023Z027) （2023Z027）
浙江省教育厅一般科研项目(Y202352293) （Y202352293）
