Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix

In order to more accurately and quickly solve the shield machine pose change during the tunneling process, a positive solution method for the pose of the shield machine based on the spatial homogeneous transformation matrix element is used to establish a positive solution model of the shield machine...

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Main Authors: Qiang Zhang, Dongchen Qin, Peng Zhou, Qiang Zhu, Jiangyi Chen
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2021-02-01
Series:Jixie chuandong
Subjects:
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.004
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author Qiang Zhang
Dongchen Qin
Peng Zhou
Qiang Zhu
Jiangyi Chen
author_facet Qiang Zhang
Dongchen Qin
Peng Zhou
Qiang Zhu
Jiangyi Chen
author_sort Qiang Zhang
collection DOAJ
description In order to more accurately and quickly solve the shield machine pose change during the tunneling process, a positive solution method for the pose of the shield machine based on the spatial homogeneous transformation matrix element is used to establish a positive solution model of the shield machine pose, and the Newton-Raphson algorithm is used to obtain the nonlinear equations with homogeneous transformation matrix elements as unknown quantities are solved successively, and the numerical solutions of the elements of the homogeneous transformation matrix are obtained. Then, the corresponding poses are solved according to the mapping relationship between the elements of the homogeneous transformation matrix and the poses. According to the constraints of the length of each hydraulic cylinder rod, the mathematical model of the inverse posture solution is established, and the positive and negative solutions of the posture are solved in Matlab. The results show that the error is about 0.018%, within the allowable range of error, which proves the correctness of the mathematical model of the forward and reverse solutions of the shield tunneling position and pose.
format Article
id doaj-art-f49ddd54e2fb421fa732d5628112daad
institution Kabale University
issn 1004-2539
language zho
publishDate 2021-02-01
publisher Editorial Office of Journal of Mechanical Transmission
record_format Article
series Jixie chuandong
spelling doaj-art-f49ddd54e2fb421fa732d5628112daad2025-01-10T14:54:17ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-02-0145232729800219Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation MatrixQiang ZhangDongchen QinPeng ZhouQiang ZhuJiangyi ChenIn order to more accurately and quickly solve the shield machine pose change during the tunneling process, a positive solution method for the pose of the shield machine based on the spatial homogeneous transformation matrix element is used to establish a positive solution model of the shield machine pose, and the Newton-Raphson algorithm is used to obtain the nonlinear equations with homogeneous transformation matrix elements as unknown quantities are solved successively, and the numerical solutions of the elements of the homogeneous transformation matrix are obtained. Then, the corresponding poses are solved according to the mapping relationship between the elements of the homogeneous transformation matrix and the poses. According to the constraints of the length of each hydraulic cylinder rod, the mathematical model of the inverse posture solution is established, and the positive and negative solutions of the posture are solved in Matlab. The results show that the error is about 0.018%, within the allowable range of error, which proves the correctness of the mathematical model of the forward and reverse solutions of the shield tunneling position and pose.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.004Shield machine posePosture solutionPose inverse solutionHomogeneous transformation matrixNewton-Raphson algorithm
spellingShingle Qiang Zhang
Dongchen Qin
Peng Zhou
Qiang Zhu
Jiangyi Chen
Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
Jixie chuandong
Shield machine pose
Posture solution
Pose inverse solution
Homogeneous transformation matrix
Newton-Raphson algorithm
title Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
title_full Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
title_fullStr Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
title_full_unstemmed Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
title_short Research on Modeling and Solving of Shield Tunneling Posture based on Homogeneous Transformation Matrix
title_sort research on modeling and solving of shield tunneling posture based on homogeneous transformation matrix
topic Shield machine pose
Posture solution
Pose inverse solution
Homogeneous transformation matrix
Newton-Raphson algorithm
url http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.004
work_keys_str_mv AT qiangzhang researchonmodelingandsolvingofshieldtunnelingposturebasedonhomogeneoustransformationmatrix
AT dongchenqin researchonmodelingandsolvingofshieldtunnelingposturebasedonhomogeneoustransformationmatrix
AT pengzhou researchonmodelingandsolvingofshieldtunnelingposturebasedonhomogeneoustransformationmatrix
AT qiangzhu researchonmodelingandsolvingofshieldtunnelingposturebasedonhomogeneoustransformationmatrix
AT jiangyichen researchonmodelingandsolvingofshieldtunnelingposturebasedonhomogeneoustransformationmatrix