Kinematics Analysis of Working Edge Point for Inner Disc Cutter in Cutterhead of Tunneling Machine

Based on the analysis of movement characteristics of inner disc cutter in tunneling machine cutterhead, a trajectory equation to describe the motion behavior of working edge point of inner disc cutter in the process of tunneling is derived by using the method of space coordinate transformation matrix. The trajectory equation mainly considers the parameters of position variables of disc cutter, cutter radius, cutterhead rotating speed and advance speed.