| Curtain wall is an important part of building external wall decoration. There are many problems in the construction and installation of high curtain, for example low efficiency, poor installation accuracy and prone to falling, etc. So Robot intelligent construction equipment is a necessary developing direction. But Curtain wall installation robot has to construct by means of aerial work platform due to the increasing of high-rise buildings. However the platform will vibrate because of the wind load, the workers movement and the movement of the robot and other factors. So vibration and vibration suppression problem of operation platform of slabstone installation robot for high-rise Buildings is the main content of the research.Firstly, to analyse the demand of slabstone installation robot on parameters and performance for its operation platform,The classification and characteristics of the current high-altitude operation equipment are compared Carefully. The results show that the aerial work basket is suitable as the operation platform for slabstone installation robot. But vibration of the platform appear easily in the process of construction. So Vibration characteristic analysis of operation platform is done and verified by the Modal module of ANSYS Workbench, Results show that the operation platform will vibrate only in three translational directions. To suppress vibration, the classification and features of vibration control method are compared, and energy dissipation by damping belong to the passive control is selected finally.Secondly, according to the vibration characteristics of working platform, the vibration suppression system based on 3-UPU parallel mechanism is proposed. Multidimensional vibration suppression effect is achieved by installing the hydraulic buffer on moving pairs of 3-UPU parallel mechanism. The direction of resistance provided by parallel mechanism is the same as the direction of vibration of working platform. Kinematics analysis and mechanical analysis of 3-UPU parallel mechanism is performed, including positive solution and inverse solution of position, velocity analysis and working space analysis. Force analysis of branched chain of parallel mechanism and displacement of motion pair are resolved. It is concluded that the mechanism is more suitable for the vibration suppression mechanism of working platform. The CJAC AD-2550 hydraulic buffer is selected as the vibration damping element.Thirdly, the vibration differential equation of vibration suppression mechanism is established by the Lagrange equation, and the natural frequency and main vibration type are achieved by modal analysis. Simulation analysis of vibration response is performed by MATLAB/SIMULINK, results show that the vibration suppression mechanism with obvious effect of Vibration suppression in three translational direction. The function relation between the equivalent damp and the damp of each branch chain of vibration damping mechanism is solved by Force Jacobian matrix. which provide theoretical support for the verification of vibration suppression effect.Finally, vibration characteristics and simulation analysis of the operation platform and operation platform with vibration suppression system are performed respectively. Results show that the vibration suppression mechanism with obvious effect of Vibration suppression for the operation platform in three translational direction. When the chain damping value of single vibration suppression mechanism is 11000N·S/m, The vibration response of the work platform is vibration characteristics of critical damping. Which can achieve the vibration suppression ideal effect, and the damping value is far less than the maximum allowable value of adsorbed curtain wall. |
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