Structural design and analysis of large-scale hydraulically driven parallel robots for TBM
WANG Huabei
XU Liping
ZHOU Xiaolei
GUO Bingjing
CAI Liujin
LI Jian
Abstract：[Objective]To address the limited flexibility of tunnel boring machines(TBMs)under complex working conditions,the structural design and performance analysis of a large-scale hydraulically driven parallel robot was studied,aiming to validate its applicability in heavy equipment manufacturing and provide support for enhancing TBM's capability in small-radius turning.[Methods]Initially,kinematic and dynamic analyses of the parallel robot were conducted.Subsequently,a three-dimensional model was constructed based on its configurational parameters.By integrating inverse kinematics and dynamics,the internal force distribution method for redundant actuation within the parallel mechanism was investigated,followed by dynamic simulation to confirm its kinematic characteristics.Finite element analysis was then applied to assess the strength,stiffness,and structural feasibility of the large-scale parallel mechanism.Verification was achieved through implementation in the TBM's propulsion system.[Results]The results indicate that the large-scale hydraulically driven parallel robot demonstrates superior kinematic performance and ample structural stability during force and attitude control in heavy equipment,satisfying performance criteria.Furthermore,its application enhances TBM's capability to navigate complex conditions,such as tight turns.
Keywords：Parallel robotStructural analysisKinetic analysisFinite element analysisTunnel boring machine
Publication Date：2025-10-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 85-93 )