Design and Trajectory Planning of Muck Removal Robot for Tunnel Boring Machine

Aiming at the problem of cleaning and transportation of muck at the bottom of the tunnel during TBM construction,a method of muck removal based on robot intelligent operation was proposed.Firstly,according to construction requirements,the boundary conditions for the design of the muck removal robot were extracted,and a new robot mechanism with foldable redundant degrees of freedom was designed,featuring narrow installation space and large operation scale;Secondly,combined with the actual operation process,the kinematics model was derived by using D-H parameter method,and the workspace of the robot was calculated and analyzed based on Monte Carlo method;Thirdly,according to the different requirements of the motion process on the motion accuracy and efficiency of the end effector,different algorithms were developed for trajectory planning and simulation;Finally,the feasibility of the proposed scheme and algorithm is verified by experiments based on the prototype of the slag removal robot system.