Parallel Manipulator Construction Robot for Precise Ceiling Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing construction robots face challenges in achieving high positional accuracy, especially on difficult-to-reach locations like high ceilings, due to limitations in mobile platform movement and high manufacturing costs, and are prone to vibrations and external disturbances.
Innovation Solution
A construction robot equipped with a mobile platform, an end effector, and a parallel manipulator connected via a sensor system, which includes a contact element and a sensor system for precise pose detection, allowing for high positional accuracy and stability, even in the presence of vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional mobile platforms are used for construction robots, then the robot can be manufactured at lower cost, but the positional accuracy cannot reach 0.5 cm or better
Solution Approach 1:
The system divides the positioning function into two independent parts: the mobile platform provides coarse positioning and mobility, while the parallel manipulator provides fine positioning adjustment. This segmentation allows each component to be optimized separately, achieving high overall precision without requiring the entire platform to be expensive and complex.
Solution Approach 2:
The parallel manipulator acts as an intermediary device between the mobile platform and the end effector. It compensates for positioning errors from the mobile platform through active control, enabling the system to achieve precision levels that would otherwise require a much more expensive and complex mobile platform.
2Manufacturing precision
If the mobile platform is made more stable to improve positional accuracy, then positioning precision improves, but the robot loses movement flexibility and becomes more expensive
Solution Approach 1:
The system separates the mobility function (handled by the flexible mobile platform) from the positioning precision function (handled by the parallel manipulator). This allows the mobile platform to remain lightweight and adaptable while the manipulator ensures precise positioning through active control.
Solution Approach 2:
The parallel manipulator dynamically compensates for platform movements and external disturbances through real-time control. This dynamic adjustment allows the system to maintain high positional accuracy even when the mobile platform is lightweight and flexible, without requiring the platform itself to be rigid and expensive.
3Speed
If the mobile platform is made lightweight for easy movement, then mobility improves, but the platform becomes more susceptible to vibrations and external disturbances
Solution Approach 1:
The parallel manipulator serves as an intermediary that isolates the end effector from vibrations and disturbances. It actively compensates for platform movements through sensor feedback and control algorithms, allowing the mobile platform to remain lightweight and mobile while the end effector maintains stable, precise positioning.
Solution Approach 2:
The system uses sensors to detect the actual position and orientation of the end effector relative to the mobile platform, and the control unit processes this information to generate compensatory control signals for the parallel manipulator. This feedback loop enables the system to counteract vibrations and external disturbances in real-time, maintaining positioning accuracy despite the lightweight mobile platform.
4Manufacturing precision
If a complex mobile platform is used to achieve high positional accuracy, then positioning precision improves, but the manufacturing cost increases significantly
Solution Approach 1:
The system divides the precision positioning function from the mobile platform and assigns it to the parallel manipulator. This segmentation allows the mobile platform to remain simple and cost-effective while the manipulator, which is easier to manufacture with high precision, handles the fine positioning requirements.
Solution Approach 2:
The parallel manipulator acts as a cost-effective intermediary that provides high-precision positioning without requiring the entire mobile platform to be complex and expensive. The manipulator can be manufactured with standard precision techniques and then actively controlled to achieve the required positioning accuracy.
Data Source
AI summary
A construction robot for carrying out construction work on a construction site object includes a mobile platform, an end effector, where the end effector has a tool or a tool fitting and where the end effector has a contact element which is configured to contact the construction site object, a parallel manipulator, where the end effector and the mobile platform are connected to one another via the parallel manipulator, and a sensor system, where a pose of the end effector relative to the mobile platform is detectable by the sensor system.