Accurately determining the spatial pose of segment erectors and motion targets for each joint in automated segment assembly is challenging.To address this drawback,a kinematic calculation model has been developed for a six-degree-of-freedom assembly erector,featuring a large translation function.A high-precision forward and inverse kinematics analysis method,incorporating critical factors such as differential extension and retraction of lifting hydro-cylinders,asymmetric design of lifting beams,and quantitative extension of a small suction cup's hydro-cylinder,is proposed.A forward kinematic solution-based calculation method is introduced to quantify the impact of joint motion errors on the positioning accuracy of the erector's end-effector.Key findings are as follows:(1)The position accuracy of the segment erector's end is less than 0.2 mm after cross checking between the forward kinematics and three-dimensional design model results.(2)Deflection,pitch,and rotation motions of the suction cup exhibit mutual interference.Nevertheless,the simplified inverse kinematic solution achieves a target motion accuracy of less than 0.5 mm,satisfying the requirements for automatic assembly.(3)If the execution error of the erector's rotation angle exceeds 0.1°,then the resulting end position deviation exceeds 7 mm,highlighting the need for further optimization of the rotation mechanism's design.
shield segmentsegment erectorforward and inverse solutionserror analysis
万方数据
维普
