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Table 6 Control parameters of each cylinder at different stages

From: A \({{\varvec{\Phi}}}\) 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

Stage

Time (s)

#1

(mm·s−1)

#2

(mm·s−1)

#3

(mm·s−1)

#4

(mm·s−1)

#5

(mm·s−1)

1

0–10

14

0

0

0

0

2

10–20

0

0

0

−12.5

12

3

20–30

0

13

0

0

0

4

30–50

0

0

0

6.25

−5

5

50–70

0

0

6.25

0

0