高空幕墙安装机器人及人机协作系统研究  

Research of curtain wall installation robot and human-robot cooperative system

作　　者：刘智光[1] 周曼[2] 樊旭[1] 岳建章 安占法[3] 李铁军[1] 

机构地区：[1]河北工业大学机械学院,天津300130 [2]天津师范大学国际教育交流学院,天津300387 [3]河北建工集团,河北石家庄050051

出　　处：《建筑机械》2015年第8期71-76,81,共7页Construction Machinery

基　　金：国家科技支撑计划项目(2013BAF07B00)

摘　　要：根据现有高空幕墙安装工艺,提出一种新型的高空幕墙安装人机协作系统,并对该系统进行分析,阐述组成和工作原理;对系统中的关键部分幕墙安装机器人特殊结构进行分析,并对这种专用机器人进行运动学计算和工作空间的求解;在工作空间内对幕墙安装人进行试验验证,得到的末端轨迹跟踪曲线证明机器人正逆解的正确性。A new-style human-robot cooperative system for high curtain wall installation is designed according to the existing process. The system is analyzed and its composition and working principal were introduced. As one of the key components of the system?the curtain wall installation robot is different from other industrial robots. Then kinematics analysis and workspace of the robot are obtained. Finally, all the above results are proved validity and feasibility by experiment.

关 键 词：高空幕堵 安装机器人 协作系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]