Determination of thrusts for different cylinder groups during shield tunneling

• A load model of shield machine is developed considering the pose. The static characteristics thrust parallel mechanism are studied. new proposed to determine total and grouped thrusts. verified by an engineering case. hydraulic system that emphasizes controlling used for driving forward pose adjustment. To control regulate precisely, it great significance solve thrusts (thrusts different cylinder groups) reasonably. This study aims develop a novel calculate thrust. Firstly, soil-machine interaction predict loads acting on during tunneling. Then inverse kinematic analysis performed describe velocity Jacobian soil displacement induced Based under resistance, employing mechanics. In this model, both properties parameters, such as operating parameters geometric considered. through case application results indicate could be assessing tunneling, which provides theoretical basis adjustment automatic trajectory tracking machine.