Assembly Deviation Analysis of New Integrated TBM Disc Cutter and Design of the Supporting Cutter-Changing Robot End-Effector

At present, the replacement of disc cutters tunnel boring machine (TBM) is a very important and difficult manual operation. It meaningful to study TBM with robot. In this paper, machining assembly deviation new integrated cutter developed by our research group modeled analyzed using improved Jacobian–Torsor model, analysis results are verified experiments. On basis, aiming at possible radial angle in working process robot replacing cutters, cutter-changing end-effector composed guiding mechanism, flexible connecting mechanism universal wrench designed for disassembly cutter, scaled-down models were made experiment. The test show that when there 19.21% or an 11° between fastening bolt robot, can complete docking bolt.