Dimension optimization of an orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines

This study focuses on the dimension optimization of a three-DOF orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines. An index is introduced to evaluate the effectiveness of the motion/force transmissibility of the manipulator. The orientation capability of the manipulator is analyzed, and the corresponding indices for orientation capability are then defined. On the basis of performance atlases, the process of determining optimum geometric parameters is presented for the purpose of high orientation capability and good motion/force transmissibility.