机器人2011，Vol.33Issue(1)：107-112,128,7.DOI:10.3724/SP.J.1218.2011.00107
串并联板材安装机器人结构设计与实现
Mechanism Design and Implementation of a Serial-Parallel Slabstone-Installing Robot
摘要
Abstract
In order to solve the problems of low degree of automation and high incidence of accident while installing slabstones with great size and large mass based on the dry-hanging technology, a new serial-parallel slabstone-installing robot prototype is developed. Based on the analysis on the slabstone installing process, the overall design of the robot is set up, and the detailed mechanism design of the mechanical system is given. Besides, in view of the environment characteristic during slabstone installing, the mode of position-orientation measurement is presented based on the angle and laser ranging sensor feedback and structured light visual location. The inverse position equation of the parallel mechanism is derived, and the correctness of the equation is also verified by simulation. The slabstone-installing experiment results indicate that the structure design of the robot is reasonable and the installing automation of slabstones with great size and large mass can be realized.关键词
机器人/串并联机构/位姿检测/位置反解/板材安装Key words
robot/ serial-parallel mechanism/ position-orientation measurement/ inverse position analysis/ slabstoneinstalling分类
信息技术与安全科学引用本文复制引用
李铁军,王海玲,赵海文,刘今越,杨冬..串并联板材安装机器人结构设计与实现[J].机器人,2011,33(1):107-112,128,7.基金项目
国家863计划资助项目(2007AA04Z240). （2007AA04Z240）
