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The type of end-effector possesses a passive compliance system consisting of two linear block and rail mechanisms that compensate for the robot's inherent limitations in accuracy, repeatability and lack of joint flexibility.
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The maximum force applied by the wheel and rail mechanism depends on two parameters of the coefficient of friction at the contact surface and axial load.
The former was composed of the rail connecting mechanism, two rail segments and their handling systems.
The rail connection mechanism, for example, could accept misalignment of 1.5 2 mm at least.
This system consists of a cross-wired lift and a rail sliding mechanism.
The mock-ups of the rail connection mechanism and the cable handling system were fabricated from the last year and installed at the JAEA Naka Site in this March.
A rail wheel contact mechanism has been a keen interest area for railway engineers.
Li and Wu [23] reported that wheel rail contact forces and power flows to the rail bridge subsystem were primarily driven by contents around the natural frequency of a single wheel adhering to the elastically supported rail, providing a mechanism to determine the dominant frequencies of bridge vibrations.
It is well known that the generation mechanism of rail corrugation consists of both the material damage and wavelength fixing mechanisms [1].
As concluded by Grassie [20], wear is a main material damage mechanism of rail corrugation.
Since then, many researchers have made gigantic contributions to the understanding of the generation mechanism of rail corrugation.
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