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为了自动维持喷浆机器人纵向进给装置在运动过程中的水平姿态，采用了油缸联动机构。为了满足要求的参数，对该机构采取了优化设计，并将优化结果带入仿真程序进行检验，证明优化设计的结果是可靠的和令人满意的。
In order to automatically maintain the horizontal posture of the longitudinal feeding device of shotcrete robot during the movement, a cylinder linkage mechanism is adopted. In order to meet the required parameters, the optimization design was adopted and the optimization results were put into the simulation program to verify that the results of the optimization design are reliable and satisfactory.