Chinese Journal of Mechanical Engineering

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

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