Publications / 1996 Proceedings of the 13th ISARC, Tokyo, Japan

Development of Automatic Segment Assembly Robot for Shield Tunnelling Machine

Y. Hirasawa, H. Hashimoto, Y. Wori, T. Kusaki, T. Kamei
Pages 813-820 (1996 Proceedings of the 13th ISARC, Tokyo, Japan, ISSN 2413-5844)
Abstract:

The automatic segment assembly robot has been adopted on a shield machine used in a subway construction project for a 600m tunnel construction. The robot was implemented successfully and operated throughout the project without having any practical problems concerning assembly accuracy or the time required for segment assembly. Moreover, the robot was further improved by shortening the time required for segment assembly and by improving component performance. For example, the performance of the vision sensor used for segment positioning was improved.

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