Design And Analysis Of Masonry Robot Structure

Masonry robot is a kind of robot used in building site instead of artificial masonry brick.The use of masonry robot instead of artificial masonry can not only reduce the probability of accidents,but also improve the working efficiency.This paper mainly designs and optimizes the masonry robot.The masonry robot mainly includes three parts:mechanical arm,brick-feeding device and plastering device:the mechanical arm has five degrees of freedom and a local degree of freedom at the claw of the manipulator,so it can grab bricks very flexibly.And finish the painting of cement and masonry wall,install the gravity balance device between the arm and the base of the mechanical anrm,and between the arm and the lower anm It can balance the partial weight moment of the long arm and the lower arm,effectively reduce the demand for the motor driving force,the brick feeding device can transport the brick placed on the conveyor belt to the designated position,waiting for the mechanical arm to grab;The plastering device,while stirring the cement,can send the cement through the cement pipe to the plastering outlet,grab the brick and smear the cement through the rotation of the mechanical arm,and because the plastering outlet is a flexible and scalable device,Can make brick and cement full contact.According to the load capacity and workspace requirements of the masonry robot,the mechanical structure and driving mode of the masonry robot are designed and optimized in this paper.Firstly,the 3D modeling of masonry robot is carried out by SolidWorks software,and then the gravity balancing device on the arm and the lower arm is optimized by using the solution function of MATLAB software.The optimal installation position and the most suitable thrust of the gravity balancing device are obtained.Then the kinematics of the robot arm is analyzed,and the kinematics equation of the robot arm is established by using MOD_D-H method.The workspace of the robot arm is analyzed by Monte Carlo method in MATLAB.And the key components of robot arm of masonry wall are analyzed by Workbench 14.0 software,and the corresponding stress,strain and total deformation cloud diagram are obtained.To test the reliability of the components,the dynamic equations of the manipulator are established by using Lagrange function.Then the dynamic simulation of the mechanical arm of the masonry robot is carried out by using ADAMS,and the torque curves of the motor driven by the arm and the lower arm are obtained.It provides the theoretical basis for the choice of the motor driven by the arm and the forearm.Finally,using the kinematics model of the mechanical arm,using five The trajectory equation of each joint of manipulator is obtained by the method of order polynomial interpolation,and the trajectory planning simulation of each joint of the robot arm is carried out in ADAMS,which provides an important reference for the further real-time control of the robot.