串并联板材安装机器人结构设计与实现

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李铁军, 王海玲, 赵海文, 刘今越, 杨冬. 串并联板材安装机器人结构设计与实现[J]. 机器人, 2011, 33(1): 107-112,128.. LI Tiejun, WANG Hailing, ZHAO Haiwen, LIU Jinyue, YANG Dong. Mechanism Design and Implementation of a Serial-Parallel Slabstone-Installing Robot. ROBOT, 2011, 33(1): 107-112,128..

摘要针对干挂工艺下大尺寸、大质量板材的安装存在自动化程度低、事故发生率高等问题，研制开发了新型的串并联板材安装机器人样机系统．在分析板材安装工艺流程的基础上，确定了机器人总体设计方案，并对机械系统进行了详细的结构设计．根据板材安装的环境特点，提出了基于倾角和激光测距传感信息反馈以及结构光条视觉定位的机器人位姿检测方法．建立了机器人并联平台位置反解方程并进行了仿真验证．板材安装试验结果表明，该机器人结构设计合理，能够实现大质量、大尺寸板材的自动化安装．

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	李铁军
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关键词 ：机器人, 串并联机构, 位姿检测, 位置反解, 板材安装

Abstract：In order to solve the problems of low degree of automation and high incidence of accident while installing slabstones with great size and large mass based on the dry-hanging technology,a new serial-parallel slabstone-installing robot prototype is developed.Based on the analysis on the slabstone installing process,the overall design of the robot is set up,and the detailed mechanism design of the mechanical system is given.Besides,in view of the environment characteristic during slabstone installing,the mode of position-orientation measurement is presented based on the angle and laser ranging sensor feedback and structured light visual location.The inverse position equation of the parallel mechanism is derived,and the correctness of the equation is also verified by simulation.The slabstone-installing experiment results indicate that the structure design of the robot is reasonable and the installing automation of slabstones with great size and large mass can be realized.

Key words： robot serial-parallel mechanism position-orientation measurement inverse position analysis slabstone-installing

收稿日期: 2010-03-03 录用日期: 2010-08-13

TP24

基金资助:国家863计划资助项目（2007AA04Z240）

通讯作者: 王海玲 E-mail: wh10605@163.com

作者简介: 李铁军（1967- ），男，教授，博士生导师．研究领域：机器人技术及应用，智能检测技术，智能流体控制技术．
王海玲（1982- ），女，硕士生．研究领域：机器人机构与控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/107

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