Virtual Operating System Of Curtain Wall Installation Robot Based On Force Feedback Device

Since the 21 st century,with the rapid development of building decoration industry,building curtain wall has begin to be widely used in the field of architectural decoration,and as a new architectural language it has been recognized by the people.At the same time,with the rapid growth of the population of the city,high-rise buildings begins to become the main type of city building replacing the multi-storey building.This makes the building decoration industry demand for high wall installation operation increase.In the process of the installation of high altitude curtain wall,the disadvantages of high labor intensity,poor working environment and high risk coefficient are becoming apparent,which must be faced in the process of the development of building decoration industry.In this paper,the development of architectural decoration industry are analyzed,development status of building robot and virtual reality technology are studied,and with in-depth site investigation,define the actual demand for air curtain wall installation are defined.Propose virtual operating system of curtain wall installation robot based on force feedback device.First of all,according to the actual needs of the curtain wall installation,the overall architecture design of the virtual operating system of the curtain wall installation robot based on force feedback handle is completed.Secondly,the robot's coordinate system is set up by using the method of D-H parameters.The kinematics of curtain wall installation robot is analyzed.According to the asymmetric structure of force feedback robot and curtain wall installation robot,put forward the method by matrix transformation method to establish the mapping relation between the working space.Then,use the combination of SolidWorks and 3D Max to set up three-dimensional modeling of curtain wall installation robot,and the modeling is imported to OpenGL to complete the virtual work environment.According to the trigonometric function of geometry,set the attitude changes of the various links of the robot in the virtual environment and realize force feedback device to control the virtual robot motion.This paper puts force sense simulation method of curtain wall installation robot.The AABB collision detection algorithm is used to check the collision.According to the actual situation of curtain wall installation,calculate the force between virtual robot and virtual environment,and the force is feedback to the operator through the force feedback device,which completes the virtual operating system with visual feedback and force feedback.Finally,each function of the virtual operating system is validated,experiments show that the virtual operating system designed by this paper has perfect function,completing curtain wall installationthrough force feedback handle,and giving visual and haptic feedback to operator.