隧道機(jī)器人在復(fù)雜環(huán)境下記憶切割的運(yùn)動學(xué)和仿真分析畢業(yè)論文外文翻譯

1、英文原文AbstractConsideringtheactualconditionsoftheroadwaydrivagefthetunnelroboticthelawofcuttingenvelopingsurfacemotioninspacedoesnotchangealongwithionofcodinatesroadheaderlinkcodinatesitswkcodinateswerebinedthespatiallocat

2、ionofcuttingheadcuttingenvelopingsurfacewiththegeometricanalysisofitsmechanismthemathematicalmodelofprofilingmemycuttingbetweenenvelopingsurfaceangularsenssdetectiondataftunnelrobotwasbuilt.Theinfluencefactsofcuttingroad

3、waycrosssectionshapedimensionsuchastheroadwayslopeinclinationlinkmechanismweredescribed.Therelationbetweenthespatiallocationofenvelopingsurfaceangulardisplacementwasdescribed.Therealtimereliabilityofthemodelwereverifiedt

4、hroughsimulatingthemotionpathofprofilingmemycutting.Thisapproachprovidesatheeticalfoundationftherealizationoftherealtimemonitautocontroloftunnelrobotcuttingroadwaycrosssection.Keywds:tunnelrobotkinematicscodinatetransfma

5、tionmodeling1.IntroductionRoadheaderisthemostimptantequipmentofmechanizedroadwayhead[1].Throughcuttingheaddrillingboomswingroadheadercutstunnelintorequestedshape.Theprofilingmemycuttingofroadheadercangetthetunnelofunifmg

6、eometrydesiredsizeaccdingtoalanewayprojecteddimension.Theuselesstunnelingfillingquantityisreducedtunnelingefficiencyincreasedtunneldrivingcostreducedmaximallyeconomicefficiencyisdramatic.Toimplementtheautomationofdrivage

7、theprofilingcuttingresearchofboomtyperoadheaderhasalreadybegunindomesticoverseas[27]Fig.1.Theenvelopingsurface2.2.BuiltthekinematicalequationoftunnelrobotprofilingmemycuttingThemainmechanismsboomoftunnelrobotismadeupofan

8、ewlineofarticulatingrods.Itisacomplicatedmultiplejointmechanicalarm.Theseoperatingmechanismshavethetremendousrigiditysotheirdisttionwhichiscausedbyexternalfceisverysmall.Therefetheysimplifytherigidarmtobethesamelengthast

9、heactuallength.Theboomliftingmechanismofroadheaderissimplifiedintotherockermechanism.Theinitialconditionofroadheaderisdefinedasthestateofkeepingtheboomoflongitudinalaxisroadheaderinhizontalparalleltoroadcentrallines.1)Cu

10、ttingagencies.CuttingthedrivefromACmotdriveninthetransmissionsystemlocatedinthegeneralprofilecouplingwithnomechanicaloverloadprotectiondevicethetwoplasreducerdrivenspindlefrontofthecuttinghead.Somesectionsofthewkingbodie

11、sbingmachinehascutchaindiscmillingcuttingsuchascantilever.Cantileverduetothecuttingbingmachinebodyflexiblerelativelysmallcancutavarietyofshapessectionsoftheroadwaytoachieveivecuttingbutcuttinggoodeffectahigherrateofbings

12、onowusedmainlycantileverCuttinghasbecomebingmachinewkingbodyofabasicpattern.Bycuttingheadofthelayoutisdividedintohizontalverticalaxisofthetwo.Thelinecuttingheadoftheadvantagesare:Transmissionconvenientcompactcanbecuttoan

13、yshapeoftheprofileeasyaccesstothefmationofacrosssectionisconducivetoexpansionintheuseofcantileverditchdigginginWaterloo.Cuttingheadtheshapeofacylindricalconetheconecylindricalasthelattertwocuttingheadtodrillingthecutting

14、surfacethanthefmationuseitme.Thisisthewkoftheshtcomings:Asthelongitudinalaxisofcuttingheadinthehizontalswingatthecuttingreactionfceisnotpassedmachinecentreswithcantileveredfmoftquetobingmachinehaveagreatervibrationstabil

15、ityispo.Therefethecoalroadwayexcavationtheneedtoincreasethebodyweightsuppttheinstallationofauxiliaryequipment.Atpresentsuchabingmachineinsomesectionsoftheuseofmebingmachine.2)Shipmentofbodies.Itgenerallyfromthedleloading