A $${{\varvec{\Phi}}}$$ 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

Abstract Robotic splicing of steel arches is a challenging task that necessary to realize the grasping and docking in limited space. Steel often have mass more than 200 kg length 4 m. Owing large volume high requirements for accurately positioning splicing, it difficult general manipulator meet stiffness requirements. To enhance structural arch manipulator, single-degree-of-freedom (DOF) closed-loop mechanism was added structure manipulator. Based on basic principle synthesis, solution model single-DOF developed, alternative kinematic pairs with different input constraints output were derived. this model, design method posture adjustment devised. Combined same dimensional subspace equivalence graphical-type synthesis method, 12 types constructed. By analyzing motion/force transmission complexity manipulators, best scheme selected. A prototype manufactured. Adams software used obtain clearly trajectory end The relative spatial positions upper lower jaws under working stages analyzed, demonstrating satisfied Through experiment, effect, accuracy, efficiency met can replace manual completion operation, significantly improving operation efficiency.