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 |