Development Of Macro-micro Robot System For Interior Wall Plastering

With the development of urbanization in recent years,the urban population is increasing year by year,and the demand for commercial housing is in short supply.In the construction process of commercial housing,interior decoration and decoration project,as the last link,determines the practicality and aesthetics of the house and occupies a large proportion in the whole building construction cycle.In the introduction of popular mechanical and electrical equipment and automation technology to improve the efficiency of construction,the interior decoration project seriously lags behind other construction projects,especially in the interior fin e decoration work in the task of large and high quality requirements of wall plastering technology can only rely on manual implementation.Under the background of declining population dividend and harsh working environment,the construction decoration industry is faced with many problems such as rising labor cost and low efficiency and waste in construction,so it is urgent to apply and develop relevant automation technology to improve and change the construction mode.This topic research in view of the current existing decorate robot movement that exist in the rendering system lack of flexibility and soft environment adaptability inefficiencies caused by poor homework,on the basis of existing research,based on the movement of the redundancy optimization a nd the thinking method of active compliance control,flexibility has been designed a new type of macro/micro robot systems decorate,and analyzed the theoretical calculation and plaster experimental verification.The main research work of this paper is as follows:In rendering process under the premise of metope,robot by comparing the traditional artificial and existing decorate the gap between two kinds of operation scheme,analyzes and summarizes the existing operation scheme of robot puts forward the new robot plaster work decoration design,and developed based on laser and force feedback control strategy.In order to improve the flexibility of plastering operation of the new robot system,a 9-dof macro/micro manipulator subsystem consisting of a series and parallel mechanism was built.On the basis of kinematic analysis of the manipulator,a redundant motion decomposition algorithm based on the gradient projection method is designed and verified by simulation in MATLAB and Gazebo.On the basis of the above,a ROS based manipulator motion controller is developed.In order to improve the adaptability of the new decoration robot system to the wall environment,a subsystem of active compliance actuator for wall plastering was designed,including a self-developed prototype integrated with motor and force sensor,and a compliance controller based on STM32.In the part of the controller,the position-based impedance control method is adopted to verify the reliability of force and position following performance of the impedance controller through force contact experiment.By comparing the following performance of the system when the controller takes different parameters,the control system coefficient applicable to different wall conditions is determined,which is sufficient preparation for the subsequent practical decoration robot plastering experiment.At last,redundant motion decomposition experiment of macro/micro manipulator,smooth control experiment of plastering actuator and integral plastering experiment of decoration robot were carried out.The experimental results prove the feasibility of the new robot system,and the system problems found in the experiment are analyzed and summarized.