Mechanism Design and Implementation of a Serial-Parallel Slabstone-Installing Robot

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.