At present, the automation level of tunnel segment repair and reinforcement is low, leading to sig-nificant safety hazards, low efficiency, high costs, and high labor intensity for workers. To achieve the auto-mated assembly of steel plates for tunnel segment reinforcement, this study proposes a 2P6R erecting ma-nipulator scheme. Firstly, the forward kinematics model of the manipulator is established. Then, the inverse kinematics is solved using an analytical method, with joint overrun as the cost function for selecting redundant solutions. The inverse kinematics solution is tested on the Beckhoff C6030-0080 TwinCAT 3 platform, demonstrating the algorithm's real-time performance. The Jacobian matrix of the manipulator is obtained us-ing the differential transformation method, and examples of boundary and internal singular configurations are identified and listed. Finally, the reachable workspace of the manipulator is illustrated through sectional and complete three-dimensional graphics, followed by a flexibility analysis resulting in a flexibility distribution map. The results indicate that the 2P6R erecting manipulator can meet the requirements for automated assem-bly of reinforced steel plates in tunnel segments, providing a theoretical basis for its application.
tunnel segment reinforcementredundant degree of freedom manipulatorkinematicsjacobian matrixsingularity
万方数据
维普
