The invention discloses a force control building installation
robot based on a
hybrid mechanism. The force control building installation
robot includes a rubber wheel omni-directional mobile platform,a linear guideway, a three-freedom-degree
hybrid manipulator, a four-freedom-degree force control
hybrid operation module and a
ceramic tile glass mobile
raw material warehouse, wherein the rubber wheel omni-directional mobile platform realizes large
stroke movement of the
robot and adapts to the complex
terrain of a construction site, the linear guideway increases the operating range of the force control building installation robot when the omni-directional mobile platform stops, and the three-freedom-degree hybrid
manipulator is used for controlling three-freedom-degree motion of the
manipulator in the space and ensuring the
tail end attitude unchanged; the four-freedom-degree force control hybrid operation module is used for controlling one freedom degree of movement and three freedomdegrees of rotation, ensuring that a sucker type
ceramic tile glass installation
actuator completes taking and installation and other operation of
ceramic tile glass, and controlling external force acting on the ceramic tile glass; and the ceramic tile glass mobile
raw material warehouse realizes on-board movement of the ceramic tile glass and other raw materials. According to the force control building installation robot based on the hybrid mechanism, the four-freedom-degree force control hybrid operation module is installed at the
tail end of the three-freedom-degree hybrid manipulator and combined with the linear guideway and the rubber wheel omni-directional mobile platform, and large
stroke installation operation of the ceramic tile glass can be realized.