With the development of electro-hydraulic proportional control and electro-hydraulic servo control technology, the control mode based on displacement feedback control mode and force-displacement composite control mode is widely used [10]. Several pieces of research have proved that displacement control mode can be used to achieve precise control of shield cylinder displacement, and it can control the cylinder movement more accurately to adjust the shield pose, avoiding lag and inaccuracy of force control [11; 12]. These pieces of research make it possible to study pose control of shield machines based on the kinematic model of the thrust system. The shield thrust mechanism is a typical multiple input multiple output (MIMO) redundant parallel mechanism with six degrees of freedom, and there is a strong coupling between position degrees of freedom and attitude degrees of freedom. Kinematic analysis of thrust mechanism needs to be solved urgently to explore the motion laws of shield machine, especially the mapping relationship between the cylinder branch chain motions of shield thrust mechanism and the motions of shield machine, which is the key to motion control of the shield and close tracking the tunnel design axis. Kinematics of a mechanism can be generally divided into two categories: forward kinematics and inverse kinematics. The forward kinematics focuses on solving the motion of the end effector by given geometric parameters and joint variables, through which we can predict the actual trajectory of the end effector [13; 14]. Conversely, inverse kinematics provide closed-form solutions to determine appropriate joint parameters to make the end effector reach the target pose [15], which can provide accurate kinematic equations for real-time control and trajectory tracking of mechanism [16; 17; 18]. Therefore, the inverse kinematics is more adaptable than the forward kinematics in improving the control accuracy of the actual trajectory of the shield machine [15; 19; 20]. Once the motions of thrust cylinders are calculated using inverse kinematics, a motion profile can be generated using the Jacobian matrix to move the shield machine from the initial to the target pose. In general, the usual methods used to solve the inverse kinematics include numerical methods and analytical methods (closed-form solutions). Due to the complexity and non-linearity of the inverse kinematics, the numerical iteration method is always used to solve it. However, the numerical solution needs more computation than the analytical solution, so it is not suitable for occasions with high real-time requirements [16; 20]. To date, only a few pieces of research have studied the inverse kinematics of shield thrust mechanism by the analytical solution. [PERSON] et al. [7] proposed a mathematical method for determining the target motions of the thrust cylinders and applied it in determining the target motions of the thrust cylinders. With the help of these mathematical models, the application range of the automatic pose and trajectory system is greatly enlarged. [PERSON] et al. [21] carried out the kinematic modeling of the shield thrust mechanism for the demand of the shield machine's position solution with the kinematics analysis method of the parallel mechanism. The existing kinematic models provide the basic constraint relations for the practical position control system but restrict their applicability for the following reasons. First, most of the equations in the inverse kinematic model are implicit equations, in which some motion parameters, like sway angle and sway angular velocity of cylinders, are difficult to determine and control in the engineering practice. Second, the respective relations between attitude angles of shield machine and angular velocity and angular acceleration have not been explored. Finally, the explicit solutions for angular velocity and angular acceleration of the shield machine are not solved.