掘进装备的姿态建模与纠偏方法研究-机械电子工程专业毕业论文.docxVIP

II II Abstract The task is from the National 973 project--the basic science questions in designing and manufacting the full-face and large-scale excavation equipment. The research in this article are some of the key technology about guidance system of the Tunnel Boring Machine(TBM).The details are as following: (1):Introducing the method of how to express the position and gesture of the shield.We select the shield incision center and three gesture angle to express the shield’s position and gesture completly. Deducing the motion Equations of shield with articulate jacks and without articulate j