Kinematics analysis and simulation of profiling memory cutting for tunnel robot in complex environment

Considering the actual conditions of the roadway drivage for the tunnel robotic, the law of cutting enveloping surface motion in space does not change along with selection of coordinates, roadheader link coordinates and its work coordinates were established. Combined the spatial location of cutting head cutting enveloping surface with the geometric analysis of its mechanism, the mathematical model of profiling memory cutting between enveloping surface and angular sensors detection data for tunnel robot was built. The influence factors of cutting roadway cross-section shape dimension such as the roadway slope, inclination and link mechanism were described. The relation between the spatial location of enveloping surface and angular displacement was described. The real-time and reliability of the model were verified through simulating the motion path of profiling memory cutting. This approach provides a theoretical foundation for the realization of the real-time monitor and auto control of tunnel robot cutting roadway cross-section.