書誌事項
- タイトル別名
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- Development of a Disc Cutter Wear Inspection Robot for a Tunnel Boring Machine
- ―ロボットの試作と実験室環境での摩耗量計測の実現性検証実験―
- -Protopype Development and Feasibility Test in a Laboratory Environment-
抄録
<p>The excavation efficiency of Tunnel Boring Machine (TBM) decreases because of the disc cutter (DC) wear. This study develops a DC wear inspection robot for 5m-diameter-class TBMs. The robot has a high expansion ratio actuator to realize an operation in the narrow space of a cutter head. The robot acquires point cloud data of DC surface and estimates the wear amount using ICP matching algorithm. Experiments conducted in this paper examine the accuracy of the proposed method. Experimental results demonstrate that the shape of pre-defined matching model and the measurement angle affect the estimation accuracy and variance.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2018 (0), 2A1-D02-, 2018
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390564238057770112
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- NII論文ID
- 130007551519
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可