We developed a multifunctional end-effector for robotic replacement of disc cutters in TBM. Especially, the two-segment bolt structure, combined wrench structure, and peg-in-hole strategy are proposed in this paper. The two-segment bolt structure effectively separates the pitch and roll angular deviations for efficient alignment. The combined wrench uses high torque for fastening/unfastening and low torque for rapid drive, while the peg-in-hole strategy provides a simple, reliable and efficient method for successful disc cutter replacement operations.hugoWith the proposed method, the wrench can align with the bolts efficiently, and the fastening component can be released rapidly. This enables the multifunctional end-effector to proceed with disc cutter replacement. Experimental alignment data at offset and standard positions validate the effectiveness of the cutter housing and the two-segment bolt and sock design in facilitating the swift assembly and disassembly of heavy disc cutters during replacement processes. However, if the reaction arm does not contact the end-effector, the robot experiences a substantial torque load. In future work, we plan to develop more detailed strategies to mitigate this issue.
