Vibration Control Height Curtain Wall Installation Robot Platform

Slabstone-installing robot need to work on the high-altitude platform.In the construction process,many factors(such as the wind load,the robot action,etc.)will cause the multidimensional vibration of the high-altitude platform.These problems will affect the accuracy of the installation of the robot,leading to personnel safety problems and equipment damage.In the installation,protection of the high-rise buildings construction,high-altitude platform is used widely.Therefore,the study on the multidimensional vibration suppression of high-altitude platform has great application value and practical significance.This paper puts forward to two degrees of freedom parallel mechanism as the main body,the rotary magnetorheological damper(MRD)as actuator,combined with modern intelligent control algorithm,established a semi-active control system of active vibration suppression of the high-altitude platform,in order to solve the multidimensional vibration problems of the platform in practical application.In this paper,the following research work is done to solve the problem of multidimensional vibration of high-altitude platform:(1)This paper analyzes the reasons of the vibration of the high-altitude platform in the practical operation and carries out the modal analysis of high-altitude platform based on ANSYS software.The vibration state of three directions of high altitude platform is obtained.According to the characteristics of the multidimensional vibration and the practical application environment,the semi active vibration suppression method is used as the main method of vibration reduction.This method is simple and easy to control.(2)The two degree of freedom parallel mechanism is used as the damping mechanism.The kinematics and dynamics of the parallel mechanism are analyzed,and the optimal design of the mechanism is analyzed.(3)According to the principle of MR fluid,a MRD is designed,witch has large damping moment and is suitable for multidimension vibration reduction environment.ANSYS is used to simulate the structure design,magnetic circuit design and mechanical analysis of the damper.(4)This paper studies the vibration suppression systems of semi-active control scheme of fuzzy PID controller.The MATLAB simulation method is used to simulate the the system of the damping effect,and verify the validity of the fuzzy PID control and multidimensional vibration.The results show that the semi-active vibration control system based on MRD has a good damping effect,and has good robustness.