Table 2 Parameter variation of the end-effector during steel arch splicing process.
Time (s) | \({l_{OA}} ({\textrm{mm}})\) | \({l_{OC}} ({\textrm{mm}})\) | \(\delta\) | State |
|---|---|---|---|---|
\(0-10\) | 283 | 542 | \(\pi /2\) | End-effector opening |
\(10-30\) | 283 | 542 | \(\pi /2\) | Steel arch entry |
\(30-50\) | 474 | 537 | \(\pi /4\) | End-effector closing |
\(50-90\) | 474 | 537 | \(\pi /4\) | Steel arch docking |
