土木与环境工程学报（中英文）2025，Vol.47Issue(5)：1-11,11.DOI:10.11835/j.issn.2096-6717.2024.124
FURobot:面向大尺度建造的建筑机器人软件控制平台
FURobot:A software control platform for construction robots for large-scale construction
摘要
Abstract
The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have become a pivotal production tool in this context.Since the arm span of a single robot usually does not exceed 3 meters,it is not competent for producing large-scale building components.Accordingly,the extension of the robot,s working range is often achieved by external axes.Nevertheless,the coupling control of external axes and robots and their kinematic solution have become key challenges.The primary technical difficulties include customized construction robots,automatic solutions for external axes,fixed axis joints,and specific motion mode control.This paper proposes solutions to these difficulties,introduces the relevant basic concepts and algorithms in detail,and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform.This platform effectively solves the above problems,lowers the threshold for architects,and improves production efficiency.The effectiveness of the algorithm and software in this paper is verified through simulation experiments.关键词
建筑机器人/定制化/建造/机器人学/运动学/软件Key words
construction robots/customization/construction/robotics/kinematics/software分类
建筑与水利引用本文复制引用
陆明,袁烽..FURobot:面向大尺度建造的建筑机器人软件控制平台[J].土木与环境工程学报（中英文）,2025,47(5):1-11,11.基金项目
National Key R&D Program of China(Nos.2023YFC3806900,2022YFE0141400) （Nos.2023YFC3806900,2022YFE0141400）
