Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Aiming at solving the problems of huge cost, long cycle and high risky during manual cutter changing process for shield machine, a robot was designed to adapt its narrow complex space, workspace motion path arm were studied. Firstly, by analyzing internal space layout characteristic, configuration proposed, dimension each rod using multi-objective optimization method. The kinematic model established D-H method analyze reachable working space. While inverse solved Newton-Raphson iterative complete trajectory planning all locations, where relationship between target position joint variables established. stability verified virtual simulation test. results show that meets requirements can be reached. Moreover, power output drive is smooth, which transport weighing up 250kg.