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Motion/force transmission performance analysis and optimal design of closed-chain end-effector for steel arch

Hongyi Chen1, Yuanfu He2, Xinyi Yu3

  • 1School of Rail Transit, Fujian Chuanzheng Communications College, Fuzhou, 350007, Fujian, China.

Scientific Reports
|December 8, 2025
PubMed

Keywords:
End-effectorMotion/force transmission performanceScrew theorySteel arch splicing robotTransmission angle optimizationTunnel support automation

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