Design And Implementation Of Motion Sense Simulation Platform For Tele-operated Construction Robot

The tele-operated construction robot with tele-existence is an construction robot which can be operated by joysticks and simultaneously the sense from the tele-operated construction working spot,such as force, vision and motion, can be obtained by the operator. The motion sense simulation platform for tele-operated construction robot is a device used to simulate the motion posture of the remote construction robot in the tele-operated construction robot system with tele-existence. Its purpose is to feedback the motion sense of the remote construction robot to the operator, and to help the operator complete remote control operations more effectively. The platform designed in this paper which can generate3-DOF movements of pitching, rolling and lifting is driven by hydraulic pressure, and controlled by computer in real time. The motion sense simulation platform is designed and studied in this paper.First of all, the operating principle of the platform is analyzed, the general scheme of the platform system is proposed based on the kinematic capability indicators of the motion sense simulation platform, and hydraulic drive method for the platform is determined. The hydraulic system of the platform is designed, and the model of the hydraulic calves, hydraulic cylinders and other hydraulic components are selected.Secondly, the kinematic model of the platform is established. In the case of eliminating the mechanical constraints, the inverse kinematics coordinate transformation formula from6-DOF system to3-DOF system is deduced, and according to the motion sense simulation platform mechanism, the relation between the displacement of the platform’s three hydraulic cylinders and the construction robot’s posture is deduced and the setting signal for control is obtained. Meanwhile, in order to analyze the performance of the motion sense simulation platform tracking with the motion of the construction robot, the forward kinematics formula of the platform is deduced, so the relation between the real-time motion posture of the platform and the real-time displacement of the hydraulic cylinders is obtained.Then, the scheme of measurement and control system is demonstrated, and the hardware and software design of measurement and control system is completed. The model of three-axis acceleration sensor, displacement sensor, data acquisition card and analog output card are selected, the wiring of the hardware is completed. According to the kinematic model of the platform and the idea of modular programming, VC++programming is adopted to fulfill the module of human-computer interface of the platform, data acquisition module, tilt and displacement solver module and system control module.Finally, the experimental studies of the platform system are conducted. First conduct the position control test of single hydraulic cylinder, tune the PID parameters until a satisfactory control result is obtained, then conduct the motion sense simulation experiment and the experiment of tracking performance of the platform. The experimental studies demonstrate that the motion sense simulation platform system designed in this paper can fulfill the motion sense simulaiton of the remote construction robot.