Virtual Prototype Modeling And Kinematic And Dynamic Analysis Of Self-Walking Gantry Construction Robot

Construction automation can solve the problems of workforce aging and the labor shortage in the construction industry. Computer-controlled construction robot is a electro-mechanical system which can completely or partially replace the human. In this thesis deals with the construction robot by using mechanical design theory, robotics, multi-body kinematics and dynamics, virtual prototyping and other relative theories and methods. The contribution can be summarized as follows:1. SWGCR is presented based on virtual prototype according to the problems of traditional construction industry.2. Based on the theory of kinematics and dynamics, the mechanical structure of SWGCR is designed. The working principle is described in detail, and the problems and requirements in the process of structure design are expounded. Finally, an objective evaluation is made on the whole structure design.3.The geometric model of SWGCR is built up based on Solidworks software environment. The running gear including the gantry part and the dan part, screw and manipulator motion parts are simulated by using the dynamic simulation software ADAMS. At last a series of kinematics curves are plotted.4. To obtained the condition of not capsizing at work, the stability of screw, machine capsizing and the whole modal are analyzed according to the actual work situation of SWGCR.The work in this thesis will lay a solid foundation for improving the construction robotic technology. Also it has important significance in promoting the construction automation.