Method of 3D motion simulation of high-altitude curtain wall installation robot

A technology of three-dimensional movement and robotics, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as teleoperation delays

Active Publication Date: 2018-03-16
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a method for three-dimensional motion simulation of a high-altitude curtain wall installation robot. By performing three-dimensional modeling on the high-altitude curtain wall installation robot, assembling a virtual robot, and using a force feedback device to control the movement of the virtual robot in real time, the high-altitude curtain wall installation is realized. The 3D motion simulation of the robot solves the problem of the teleoperation delay of the remote operating system that uses the high-altitude curtain wall installation robot to replace the manual completion of the curtain wall installation work in the prior art

Method used

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  • Method of 3D motion simulation of high-altitude curtain wall installation robot
  • Method of 3D motion simulation of high-altitude curtain wall installation robot

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Embodiment

[0090] The three-dimensional motion simulation method of the high-altitude curtain wall installation robot of the present embodiment, the steps are as follows:

[0091] The first step is to analyze the basic structure of the solid high-altitude curtain wall installation robot:

[0092] Analyze the basic structure of the solid high-altitude curtain wall installation robot, and determine the structure and size of the main components of the high-altitude curtain wall installation robot;

[0093] The basic structure of the entity of the high-altitude curtain wall installation robot of this embodiment is as described above figure 2 In the embodiment shown, the main components of the high-altitude curtain wall installation robot, that is, the structure and size of each connecting rod, that is, the connecting rod parameter table, are shown in Table 1.

[0094] Table 1 Parameters of the connecting rod of the high-altitude curtain wall installation robot

[0095]

[0096] The con...

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Abstract

The invention provides a three-dimensional movement simulation method for a high-altitude curtain wall installation robot, and relates to assembly equipment of building components. The three-dimensional movement simulation method includes the steps that the basic structure of the entity high-altitude curtain wall installation robot is analyzed; three-dimensional modeling is conducted on the high-altitude curtain wall installation robot; kinematics analysis is conducted on the high-altitude curtain wall installation robot; a virtual robot is assembled; and movement of the virtual robot is controlled through a force feedback device in real time, and three-dimensional movement simulation of the high-altitude curtain wall installation robot is achieved. The method solves the problem of teleoperation time delay of a teleoperation system for completing the curtain wall installation work through the high-altitude curtain wall installation robot instead of manual work in the prior art.

Description

technical field [0001] The technical scheme of the present invention relates to assembling equipment of building components, in particular to a method of three-dimensional motion simulation of a robot for high-altitude curtain wall installation. Background technique [0002] The traditional high-altitude curtain wall installation has the disadvantages of high labor intensity, low installation efficiency, high risk, and harsh working environment. At the same time, the building curtain wall installation industry is a high-tech industry with relatively high technical requirements and strong professionalism. It requires construction companies to select construction personnel with relevant technologies and conduct skill training for the construction personnel, which leads to high costs for manual installation of curtain walls and difficulty in management. big. [0003] With the continuous improvement of the level of science and technology, the remote operating system separates t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/10
CPCB25J9/106B25J9/1605
Inventor 彭玉青张媛媛宋初柏李铁军杨东
Owner HEBEI UNIV OF TECH
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