【摘要】 人采用了一种多重四连杆结构，使它很容易将枪口与壁面保持垂直、等距的关系，减少了伺服关节，降低了控制难度。其控制方式为遥控主从加自动轨迹控制。经现场实验表明，机器人的结构设计与控制系统设计都是成功的，达到了结构简单，操作方便和实用的目的。更多还原

【Abstract】 The shotcreting robot adopts a poly-four-linkage-bar structure,that is made the gun maintain vertically and distance to the tunnel wall easily, reduced the number of servo joints and lowered the difficulty of controlling. The adopted method in this paper is remote master-slave and automation-path control. Through testing in site,it shows that design of the robot’ s structure and control system are successful and reach the aim of sirnple structure, convenient operation and practical use更多还原