Shotcrete manipulator has been widely used in the construction of high-speed railways, coal mines and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. There are problems such as high operation risk, large personal injuries, and low construction quality. In order to improve the automation of tunnel construction, this paper proposes a spraying motion planning method based on an 8R manipulator arm. On the basis of kinematics modeling and analysis of the shotcrete manipulator, method design and motion planning of shotcrete are carried out according to tunnel conditions, and verification experiments are carried out in actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 m, which can meet the requirements of actual construction.

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