| The application of tile robots in the field of construction engineering can effectively reduce the workload of decoration workers and improve the quality and efficiency of tile pasting.This topic proposes a six-degree-of-freedom parallel mechanism for the main actuator of a ceramic tile robot,establishes the kinematics and motion error model of the main actuator,proposes a multi-coordinate system fusion positioning scheme and establishes a multi-coordinate Department conversion model.Aiming at the construction process and overall structure design requirements of the tiled robot,a six-degree-of-freedom parallel mechanism is innovatively designed,and a biased seven-degree-of-freedom series-parallel actuator is designed based on the six-degree-of-freedom parallel mechanism.On this basis,the selected design of the end effector and walking mechanism of the ceramic tile robot is carried out,and the overall scheme of the ceramic tile robot is designed.The analytical method is used to establish the inverse kinematics model of the six-degree-of-freedom parallel actuator of the tiled robot,and the speed equation and Jacobian matrix of the actuator are deduced.The homotopy algorithm and the Jacobian matrix method are used to solve the numerical solution of the positive kinematics of the actuator.According to the structural characteristics of the six-degree-of-freedom parallel actuator,a kinematics positive solution elimination method based on the space four-bar mechanism is proposed,and the calculation example is solved,and the convergence accuracy and solution speed of the homotopy algorithm and the Jacobian matrix method are compared.And so on for comparative analysis.The grid search method is used to search the working space boundary of the robot actuator for tiling tiles on different sections.The input and output error transmission model of the actuator is deduced,and the influence law of the actuator extension rod error,the manufacturing error of the moving platform,and the manufacturing error of the static platform on the output error is analyzed.Based on the solution results of the actuator error model,the electric actuator is selected and designed.Aiming at the problem that the positioning information is lost and cannot be positioned with high precision due to the slippage of the walking trolley during the movement of the tiled robot,a monocular camera(including a monocular camera,an inclination sensor,and a laser sensor)and a binocular-based camera are designed.The camera’s tile coordinate system recognition scheme.Carry out theoretical analysis and experimental research on the two recognition schemes respectively.Designed the overall scheme of multi-coordinate system fusion positioning of the ceramic tile robot.Based on the monocular camera recognition scheme,the indoor coordinate system of the ceramic tile robot and the ceramic tile coordinate system,the camera coordinate system,the actuator coordinate system,the stationary platform coordinate system,and the walking car coordinate system was established.The multi-coordinate system conversion model between the ceramic tile robot recognizes,grabs,pastes tiles,and moves the whole machine for simulation,which verifies the feasibility of the multi-coordinate system fusion positioning scheme of the ceramic tile robot. |
