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Technical Brief

Design of a Spatial RPR-2SS Valve Mechanism

[+] Author and Article Information
Peter L Wang

Robotics and Automation Laboratory, University of California Irvine, California 92697
wangpl1@uci.edu

Ulrich Rhem

Dr. Rehm Tunnelling Consultant GmbH, Lotzbeckstr. 25, D-77933 Lahr Germany
ru@tunnelling-consultant.de

J. Michael McCarthy

Robotics and Automation Laboratory, University of California Irvine, California 92697
jmmccart@uci.edu

1Corresponding author.

ASME doi:10.1115/1.4040027 History: Received November 01, 2017; Revised March 23, 2018

Abstract

This paper applies kinematic synthesis theory to obtain the dimensions of a constrained spatial serial chain for a valve mechanism that cleans and closes a soil conditioning port in a tunnel boring machine. The goal is a smooth movement that rotates a cylindrical array of studs into position and then translates it forward to clean and close the port. The movement of the valve is defined by six positions of the RPR (revolute-prismatic-revolute) serial chain. These six positions are used to compute the dimensions of the two SS (spherical spherical) dyads that constrain the RPR chain to obtain a one degree-of-freedom spatial mechanism. An example design of this valve mechanism is provided in detail.

Copyright (c) 2018 by ASME
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