摘要
根据现有高空幕墙安装工艺,提出一种新型的高空幕墙安装人机协作系统,并对该系统进行分析,阐述组成和工作原理;对系统中的关键部分幕墙安装机器人特殊结构进行分析,并对这种专用机器人进行运动学计算和工作空间的求解;在工作空间内对幕墙安装人进行试验验证,得到的末端轨迹跟踪曲线证明机器人正逆解的正确性。
A new-style human-robot cooperative system for high curtain wall installation is designed according to the existing process. The system is analyzed and its composition and working principal were introduced. As one of the key components of the system?the curtain wall installation robot is different from other industrial robots. Then kinematics analysis and workspace of the robot are obtained. Finally, all the above results are proved validity and feasibility by experiment.
出处
《建筑机械》
2015年第8期71-76,81,共7页
Construction Machinery
基金
国家科技支撑计划项目(2013BAF07B00)
