ABSTRACT
Robotic control of tunnel lining installation is an actual need in view of an increasing number of mega tunnel projects worldwide. SW-controlled assembling needs requirements on machine configuration, on interface between TBM and tunnel lining, and finally requirements on the geometry of the precast lining segments together with its joint connectors. Reduction of installation motions to a minimum and proper coordinated interface design offers practicable SW-structures and algorithms to match the tough environmental conditions in the tunnel. This paper is focused how to design geometry of tunnel lining segments, for successful application of SW-aided installation, aiming to improve lining quality and tunnel excavation progress rates.
The interaction between machine, thruster configuration and geometry of the segments, influencing the kinematics of erector and segments are discussed. Recent experiences with proposed lining geometries are described, confirming this approach.
