Design And Motion Planning Of Robot Moving Body For Sticking Ceramic Tiles

In recent years,with the rapid development of the robot technology and the increasing demand of the construction industry,the construction robot gradually becomes a trend of the robot application.The work of sticking ceramic tiles is one of the construction industry.There are great demand and high quality for sticking ceramic tiles,which usually completed by professional workers,however,huge workload and high costs are serious problems.So the research on sticking ceramic tiles robot has important significance.This research is for moving body sticking ceramic tiles robot.In the actual research,regard it as a mobile robot.In this thesis,the main researches are the mobile body design,point stabilization control,trajectory tracking control and path planning.The specific research work are as follows:Firstly,this paper describes the concept,classification,development situation and main contents of the construction robot and mobile robot.After analyzing the robot system's architecture,and determine the main tasks to be completed.Secondly,after analyzing the mobile mechanism of the wheeled mobile robot,selected the motor and the speed reducer and designed the mechanical structure of the mobile robot,and completed the simulation of the motor system,aside in the Adams environment,the mobile body were kinematics simulation.Thirdly,based on the kinematic analysis,the research on linear point stabilization control law,and proved the stability of the linear point stabilization control law,carried out the simulation.Fourthly,accomplished the research on trajectory tracking control based on the principle of Back-stepping.Then,planned the path by artificial potential field method and ant colony algorithm,and simulated the two algorithms respectively.Finally,summarized the main work in this thesis,and pointed out the contents of the research to improve.