Figure 1
From: Motion error analysis of a shield machine tool-changing robot based on a screw-vector method
3D model of the tool-changing robot. 1: Base (the 1st joint), 2: Pitch joint (the 2nd and 3rd joint), 3: Extended arm, 4: Telescopic arm (the 4th joint), 5: End-effector, 6: Quick-change connection device.
