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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