Shield Machine Positioning Algorithm Based on the Kinematic Solution of Parallel Mechanism

In this paper, the research on the kinematic mechanism of the shield machine is carried out by using the analytical method of parallel mechanism kinematics for the demand of the shield machine’s position solution, and the kinematic expressions of the position and attitude of the shield machine are derived, which can be used for the real-time solution of the shield machine’s position solution. Finally, the kinematic solution is also verified by using the data from the engineering site, and the results show the correctness of the derived kinematics algorithm.