During shield construction,the segment assembler needs to complete one ring of assembly before moving forward.At present,the working efficiency of segment assembler is low,which directly affects the tunneling speed.In order to improve the assembly efficiency of segment assembly machine,a new assembly trajectory planning method combined with Hermite interpolation algorithm was proposed.Hermite interpolation was carried out at the beginning and end of each action to construct a quintic polynomial,and the specific solutions were solved by constraints such as acceleration and power.Selecting the one with the longest time as the time benchmark,the other quintic polynomials were reconstructed.While reducing the starting impact,the assembly efficiency of the segment assembly machine is nearly doubled.