[1] RAMONI M,ANAGNOSTOU G. Tunnel boring machines under squeezing conditions[J]. Tunnelling and Underground Space Technology,2010,25:139-157. [2] HUANG Tian,WANG Xiaolong,LIU Haitao,et al. Force analysis of an open TBM gripping-thrusting-regripping mechanism[J]. Mechanism and Machine Theory,2016,98:101-113. [3] SALISBURY J. Active stiffness control of a manipulator in Cartesian coordinates[C]//IEEE International Conference on Decision and Control,December 10-12,1980,Albuquerque,New Mexico. 1980:95-100. [4] GOSSELIN C. Stiffness mapping for parallel manipulator[J]. IEEE Transactions on Robotics and Automation,1990,6(3):377-382. [5] GOSSELIN C,ZHANG Dan. Stiffness analysis of parallel mechanisms using a lumped model[J]. International Journal of Robotics and Automation,2002,17(1):17-27. [6] GOLDSMITH P B. Kinematics and stiffness of a symmetrical 3-UPU translational parallel manipulator[C]//IEEE International Conference on Robotics and Automation,May 11-15,2002,Washington D.C. 2002,4:4102-4107. [7] MAJOU F,GOSSELIN C M,WENGER P,et al. Parametric stiffness analysis of the orthoglide[J]. Mechanism and Machine Theory,2007,42(3):296-311. [8] CHI Zhongzhe,ZHANG Dan. Stiffness optimization of a novel reconfigurable parallel kinematic manipulator[J]. Robotica,2012,30(3):433-447. [9] JOSHI S A,TSAI L W,Jacobian analysis of limited-DOF parallel manipulators[J]. Journal of Mechanical Design,2002,124(2):341-348. [10] ZHU S,HUANG Z A. Novel method for Jacobian analysis of lower-mobility parallel mechanism pulators using the generalized Jacobian[C]//IEEE International Conference on Intelligent Robots and Systems,October 9-15,2006,Beijing,China. 2006:2139-2143. [11] ZHANG Dan,GOSSELIN C M. Kinetostatic modeling of N-DOF parallel mechanisms with a passive constraining leg and prismatic actuators[J]. Journal of Mechanical Design,2001,123:375. [12] XU Qingsong,LI Yangmin. An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory[J]. Robotics and Computer-Integrated Manufacturing,2008,24(3):402-414. [13] 王友渔,黄田,CHETWYND D G,等. Tricept机械手静刚度解析建模方法[J]. 机械工程学报,2008,44(8):13-19. WANG Youyu,HUANG Tian,CHETWYND D G,et al. Analytical method for stiffness modeling of the Tricept robot[J]. Chinese Journal of Mechanical Engineering,2008,44(8):13-19. [14] WANG Youyu,LIU Haitao,HUANG Tian,et al. Stiffness modeling of the Tricept robot using the overall jacobian matrix[J]. ASME Journal of Mechanisms and Robotics,2009,1(2):1-8. [15] 汪满新,王攀峰,黄田,等. 4自由度混联机器人静刚度分析[J]. 机械工程学报,2011,47(15):9-16. WANG Manxin,WANG Panfeng,HUANG Tian,et al. Stiffness analysis of a 4-DOF robot[J]. Journal of Mechanical Engineering,2011,47(15):9-16. [16] 刘海涛. 少自由度机器人机构一体化建模理论、方法及工程应用[D]. 天津:天津大学,2010. LIU Haitao. Unified parameter modeling of lower mobility robotic manipulators:Theory,methodology and application[D]. Tianjin:Tianjin University,2010. [17] HUANG Tian,LIU Haitao,DEREK G C. Generalized Jacobian analysis of lower mobility manipulators[J]. Mechanism and Machine Theory,2011,46(6):831-844. [18] LIU Haitao,LI Yonggang,HUANG Tian,et al. An approach for stiffness modelling of lower mobility parallel manipulators using the generalized Jacobian[C]//World Congress in Mechanism and Machine Science,June 19-23,2011,Guanajuato,México. 2011:19-25. [19] EI-KHASAWNEH B S,FERREIRA P M,Computation of stiffness and stiffness bounds for parallel link manipulators[J]. International Journal of Machine Tools and Manufacture,1999,39(2):321-342. [20] CORRADINI C,FAUROUX J C,KRUT S,et al,Rbaluation of a 4 degree of freedom parallel manipulator stiffness[C]//World Congress in Mechanism and Machine Science. August 18-21,2003,Tianjin,China. 2003:1857-1861. [21] BOUZGARROU B C,FAUROUX J C,GOGU G,et al,Rigidity analysis of T3R1 paralllel robot with uncoupled kinematics[C]//International Symposium on Robotics,March 23-26,2004,Paris,France. 2004:1-6. [22] NAGAI K,LIU Z H. A systematic approach to stiffness analysis of parallel mechanism and its comparison with FEM[C]//IEEE International Conference on Robotics and Automation,May 19-23,2008,Pasadena,California. 2007:1543-1548. [23] 窦永磊,汪满新,王攀峰,等. 一种6自由度混联机器人静刚度分析[J]. 机械工程学报,2015,51(7):38-44. DOU Yonglei,WANG Manxin,WANG Panfeng,et al. Stiffness analysis of a 6-DOF hybrid robot[J]. Journal of Mechanical Engineering,2015,51(7):38-44. [24] 冯斌. 液压油有效体积弹性模量及测量装置的研究[D]. 杭州:浙江大学,2011. FENG Bin. Study on effective fluid bulk modulus and measurement in hydraulic systems[D]. Hangzhou:Zhejiang University,2011. [25] 郝培,余海东,赵勇. 考虑隧道表面特性的硬岩全断面掘进装备撑靴接触界面刚度分析[J]. 上海交通大学学报,2014(6):827-832. HAO Pei,YU Haidong,ZHAO Yong. Normal stiffness of tunnel surface contacting with thrusting boots of TBM with various surface characteristics[J]. Journal of Shanghai Jiao Tong University,2014(6):827-832. [26] 余海东,郝培,赵勇,等. 硬岩掘进装备支撑系统界面接触刚度非线性特性[J]. 机械工程学报,2014,50(21):54-59. YU Haidong,HAO Pei,ZHAO Yong,et al. Non-linear behavior of normal contact stiffness of tunnel surface and supporting system of tunnel boring machines[J]. Journal of Mechanical Engineering,2014,50(21):54-59. [27] YAN W,KOMVOPOULOS K. Contact analysis of elastic-plastic fractal surfaces[J]. Journal of Applied Physics,1998,84(7):3617-3624. [28] GREENWOOD J A,WILLIAMSON J B P. Contact of nominally flat surfaces[J]. Proceedings of the Royal Society A Mathematical Physical and Engineering Sciences,1966,295(1442):300-319. [29] Service manual tunnel boring machine model MB264-311[Z]. USA:The Robbins Company,2009. |