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, CA 92697
e-mail: wangpl1@uci.edu

Ulrich Rhem

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

J. Michael McCarthy

Robotics and Automation Laboratory,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 1, 2017; final manuscript received March 23, 2018; published online May 31, 2018. Assoc. Editor: Marc Gouttefarde.

J. Mechanisms Robotics 10(4), 044504 (May 31, 2018) (7 pages) Paper No: JMR-17-1376; doi: 10.1115/1.4040027 History: Received November 01, 2017; Revised March 23, 2018

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 revolute-prismatic-revolute (RPR) serial chain. These six positions are used to compute the dimensions of the two spherical spherical (SS) 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 © 2018 by ASME
Topics: Chain , Design , Valves , Soil , Linkages , Rotation
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Fig. 1

Photograph of a tunnel boring machine cutter with arrows identifying the soil conditioning ports

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Fig. 2

The spatial RPR-2SS linkage constructed by constraining a spatial RPR serial chain using two SS dyads that connect the second and third links to the ground frame

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Fig. 3

The mechanism is mounted inside a T pipe that has one end capped. Flow enters at the bottom left and exits at the top left.

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Fig. 4

When the valve closes, it also plunges grate as a self-cleaning action. The studs of the plunger can be seen during the extension phase.

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Fig. 5

The link OA of the RPR-2SS linkage is held fixed. Points C and F are connected to a single crank which drive links ABD and DE.

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Fig. 6

The desired slide and rotation function and the respective precision points are shown. The precision points have been adjusted from the curves during design process.

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Fig. 10

This figure shows mechanism with the sealing drum transparent and the pipe hidden. The plunging studs are now visible through the sealing drum.

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Fig. 11

The process involves adjustment of the precision points within user defined tolerance zones to find successful designs. Iteration of this procedure produces a large number of design candidates.

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Fig. 7

The movement of the plunger slide with link BC and sealing rotation with link EF

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Fig. 8

The valve is in the process of opening

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Fig. 9

The fluid pressure inside of the pipe has decreased below the desired thresh hold, so the mechanism cleans and seals the port




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