Kinematics and spatial structure analysis of TBM gunite robot based on DH parameter method

Lianhui Jia ab, Shenyao Liu b, Chenxu Cao a, Yehao Kang b, Ying Zhu a, Lijun Wang b, Donglai Xu c & Ruixue Cheng c

a China Railway Engineering Equipment Group Co, Zhengzhou, 450047, China

b School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China

c School of Computing, Engineering and Digital Technologies, Teesside University, Middlesbrough, TS1 3BX, UK

Scientific Reports volume 14, Article number: 13649 (2024)

https://www.nature.com/articles/s41598-024-64439-0