Error calculation and analysis of undersea tunnel shotcrete positioning system

A mechanical model of undersea tunnel shotcrete positioning system is presented, by which the positioning error of the spray nozzle at each working point can be calculated. The entire process was divided into four phases, for each stage, the separate calculation and analysis were carried out, and the error distributions were obtained. Compared with the calculating results, the experimental data showed that the error distribution of the positioning system was consistent with the theoretical model predictions.