Abstract: Abstract: To enhance the execution efficiency and uniformity of the shotcrete trajectory for coal mine Shotcrete Manipulators, a Cartesian space multi-segment trajectory planning method based on the AIWCPSO optimization algorithm is proposed. The vertical trajectory of the traditional shotcrete is first replaced with an arc trajectory, and then sinusoidal start-stop velocity planning is applied to the initial and final trajectory segments. The middle segment's linear and arc trajectories are planned with a constant speed trajectory, and the motion parameters k1, k2, and vmax of the multi-segment shotcrete trajectory completed by AIWCPSO optimization are optimized to meet the time-optimal trajectory planning under kinematic constraints. Compared with the traditional shotcrete trajectory planning method with zero start and end speeds on the MATLAB platform, the simulation results show that the execution efficiency of this algorithm has increased by 27.75% compared to the traditional shotcrete tra-jectory planning algorithm, and the uniformity of shotcrete has been significantly improved. A simulated shotcrete physical test bench was built to verify and test the simulation, proving the feasibility and effectiveness of the planning and optimization algorithms in improving shotcrete efficiency and uniformity.