Abstract: Traditional disc cutter replacement in tunnel boring machines presents significant challenges, such as long cutter replacement cycles and high safety risks. To address these issues, a novel cutter system for robot-assisted disc cutter replacement is developed. The dynamics of this system is analyzed. The dynamic differential equations of this system are established using Newton′s second law and the concentrated mass parameter approach, and the Newmark numerical technique is applied to solve them. The response patterns of each component are analyzed. In addition, a vibration test is performed on a scaled prototype of this system to assess its dynamic behavior during rock breaking, followed by a system dynamic response analysis based on the measured loads. The results indicate the following: (1) The relative error of the average vertical vibration displacement between the theoretical and experimental values of the disc cutter is 9.99%, and that of the cutter box is 5.18%, validating the accuracy of the established vertical dynamics model of the system. (2) The root mean square value and the maximum amplitude of the system vibration under load are 0.230 and 0.700 3 mm, respectively, providing a theoretical basis for predicting the dynamic behavior of the system during rock breaking.

Key words: Newmark numerical method; cutter system, dynamic response, mass method, tunnel boring machine, cutter-changing robot