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- FUKUI Rui
- The University of Tokyo
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- YAMADA Yudai
- The University of Tokyo
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- SANO Katsuya
- The University of Tokyo
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- WARISAWA Shin'ichi
- The University of Tokyo
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- MORIOKA Eiichi
- KOMATSU
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- UETAKE Masaaki
- KOMATSU
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- TERADA Shin'ichi
- KOMATSU
Bibliographic Information
- Other Title
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- トンネル掘削機械のディスクカッタ摩耗量計測ロボットの開発
- ―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-
Abstract
<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>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (0), 2A1-D02-, 2018
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390564238057770112
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- NII Article ID
- 130007551519
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed