Design and Research of a Construction Robot Based on Series Parallel Structure

Dong Yang; Tie Jun Li; Ya Qian Wang; Na Gao

doi:10.4028/www.scientific.net/AMR.662.616

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 662Design and Research of a Construction Robot Based...

Design and Research of a Construction Robot Based on Series Parallel Structure

Abstract:

Aiming at the difficulty and low automation in installing slabstone under dry-hanging technology which is heavy and large in size, a slabstone dry-hanging installation robot system was developed. According to the working requirements such as load, installing precision and process, we researched a 6-DOF of series-parallel manipulator, analyzed its structural and completed the inverse solution. The inverse position equation of the robot was derived based on the kinematical theory. Mathematical relation between the Position-Orientation parameters and the direction cosine matrix was established. Experiments show that the robot can achieve slabstone auto- installing, and solve the problems in the dry-hanging installing.

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Periodical:

Advanced Materials Research (Volume 662)

Pages:

616-621

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.662.616

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Online since:

February 2013

Authors:

Dong Yang, Tie Jun Li, Ya Qian Wang, Na Gao

Keywords:

Construction Robot, Position and Orientation Solution, Series Parallel, Slabstone Installing

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