Kinematics analysis of prefabricated tile paving parallel robot
Aiming at the requirement of automatic tile paving of prefabricated components in prefabricated buildings, a new robot configuration based on parallel mechanism for tile grabbing and compacting was proposed. Firstly, the designed paving robot consisting of three branches was designed, and each of wh...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Hebei University of Science and Technology
2024-12-01
|
| Series: | Journal of Hebei University of Science and Technology |
| Subjects: | |
| Online Access: | https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406011?st=article_issue |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850151190348693504 |
|---|---|
| author | Hong MA Mingchao GENG Zhanying WANG Jinyue LIU Jingjun ZHOU |
| author_facet | Hong MA Mingchao GENG Zhanying WANG Jinyue LIU Jingjun ZHOU |
| author_sort | Hong MA |
| collection | DOAJ |
| description | Aiming at the requirement of automatic tile paving of prefabricated components in prefabricated buildings, a new robot configuration based on parallel mechanism for tile grabbing and compacting was proposed. Firstly, the designed paving robot consisting of three branches was designed, and each of which contained two different types of actuators corresponding to the grasping and vibration working modes of the robot. Secondly, combined with the layout characteristics of the mechanism, the degree of freedom characteristics of the mechanism were analyzed, and the forward and inverse solutions for its position were derived. Thirdly, for the generalized coordinates, an equivalent motion screw was used to describe the motion characteristics of the closed-loop four-bar mechanism, and the paving robot in the vibration working mode was instantaneously equivalent to a 3-RRC parallel mechanism. Finally, based on the screw algebra, the first-order and second-order influence coefficients of kinematics were derived in a concise and compact form, and the corresponding numerical examples were given to verify. The results show that the paving robot has a large working space. Combined with the vibration output of different frequencies and amplitudes, it can realize the integration of tile grabbing and compacting. The proposed tile paving robot has certain feasibility and provides reference for further research and application of automatic tile paving. |
| format | Article |
| id | doaj-art-dd59b2eb6bb340d2a2dcc952ac57d1d8 |
| institution | OA Journals |
| issn | 1008-1542 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Hebei University of Science and Technology |
| record_format | Article |
| series | Journal of Hebei University of Science and Technology |
| spelling | doaj-art-dd59b2eb6bb340d2a2dcc952ac57d1d82025-08-20T02:26:20ZzhoHebei University of Science and TechnologyJournal of Hebei University of Science and Technology1008-15422024-12-0145666266810.7535/hbkd.2024yx06011b202406011Kinematics analysis of prefabricated tile paving parallel robotHong MA0Mingchao GENG1Zhanying WANG2Jinyue LIU3Jingjun ZHOU4School of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou, Hebei 075000, ChinaSchool of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou, Hebei 075000, ChinaSchool of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou, Hebei 075000, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, ChinaSchool of Mechanical Engineering, Hebei University of Architecture, Zhangjiakou, Hebei 075000, ChinaAiming at the requirement of automatic tile paving of prefabricated components in prefabricated buildings, a new robot configuration based on parallel mechanism for tile grabbing and compacting was proposed. Firstly, the designed paving robot consisting of three branches was designed, and each of which contained two different types of actuators corresponding to the grasping and vibration working modes of the robot. Secondly, combined with the layout characteristics of the mechanism, the degree of freedom characteristics of the mechanism were analyzed, and the forward and inverse solutions for its position were derived. Thirdly, for the generalized coordinates, an equivalent motion screw was used to describe the motion characteristics of the closed-loop four-bar mechanism, and the paving robot in the vibration working mode was instantaneously equivalent to a 3-RRC parallel mechanism. Finally, based on the screw algebra, the first-order and second-order influence coefficients of kinematics were derived in a concise and compact form, and the corresponding numerical examples were given to verify. The results show that the paving robot has a large working space. Combined with the vibration output of different frequencies and amplitudes, it can realize the integration of tile grabbing and compacting. The proposed tile paving robot has certain feasibility and provides reference for further research and application of automatic tile paving.https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406011?st=article_issueindustrial robot technology; prefabricated components; tile paving; parallel mechanism; kinematics |
| spellingShingle | Hong MA Mingchao GENG Zhanying WANG Jinyue LIU Jingjun ZHOU Kinematics analysis of prefabricated tile paving parallel robot Journal of Hebei University of Science and Technology industrial robot technology; prefabricated components; tile paving; parallel mechanism; kinematics |
| title | Kinematics analysis of prefabricated tile paving parallel robot |
| title_full | Kinematics analysis of prefabricated tile paving parallel robot |
| title_fullStr | Kinematics analysis of prefabricated tile paving parallel robot |
| title_full_unstemmed | Kinematics analysis of prefabricated tile paving parallel robot |
| title_short | Kinematics analysis of prefabricated tile paving parallel robot |
| title_sort | kinematics analysis of prefabricated tile paving parallel robot |
| topic | industrial robot technology; prefabricated components; tile paving; parallel mechanism; kinematics |
| url | https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406011?st=article_issue |
| work_keys_str_mv | AT hongma kinematicsanalysisofprefabricatedtilepavingparallelrobot AT mingchaogeng kinematicsanalysisofprefabricatedtilepavingparallelrobot AT zhanyingwang kinematicsanalysisofprefabricatedtilepavingparallelrobot AT jinyueliu kinematicsanalysisofprefabricatedtilepavingparallelrobot AT jingjunzhou kinematicsanalysisofprefabricatedtilepavingparallelrobot |