Mechanical System Research Of High-altitude Curtain Wall Installation Robot

Currently, the development of mechanization construction industry in our country is lower than developed countries, and the installation of the high-altitude curtain wall rely mainly on simple mechanical. The installation has high labor intensity and high risk, and the efficiency is low, it is also difficult to guarantee quality. To improve the mechanization and intelligent level and the quality, and to reduce the labor intensity, we carry out the research of building materials construction equipment and application. This work is supported by National Key Technology R&D Program of the Ministry of Science and Technology of China.Through in-depth investigation of the application and construction status quo of building walls, analysis of kinds of building curtain wall, and comparison with the characteristics of building curtain wall, this paper determines the object of research to be framed glass curtain wall, plans out the specific construction process, and sums up the characteristics of high-altitude curtain wall. Based on this, the robot needs the corresponding performance. After analyzing the advantages and disadvantages of various robots, this paper determines using hybrid mechanism as the main mechanism, and divides the robot into two parts. According to the size and actual requirements of the wall, the desired work space of robot is confirmed, and the mechanism is signed. Then, kinematics is analyzed. The kinematics model is established, and the kinematics positive and inverse solutions are solved. Work space is analyzed by Monte Carlo method, and whether the work space meets the requirements of is verified by the limit section method. Dynamics is analyzed by Lagrange and the dynamics model is established, verified and simulated by CREO2.0. Each axis torque-force curve is calculated to verify whether the robot meets the design requirements.Finally the design and development process and control system of the robot are introduced. The Load-to-Weight ratio is 13.12%, compared with traditional industrial robot which is increased by 30.12%, meeting the requirements of the performance of the robot.The human-robot interaction is analyzed, and the curtain wall installation robot is verified with good interoperability. The repetitive positioning accuracy of the robot is measured,and the main cause of the error is analyzed, which makes a foundation of repeat positioning accuracy.