室内墙面多角度抹平机器人性能研究  

Research on performance of multi-angle plastering robot for indoor wall surface

作　　者：饶琪 周敏[1,2,3] 谢良喜[1,2,3] 陈燕军 李鑫炎 RAO Qi;ZHOU Min;XIE Liangxi;CHEN Yanjun;LI Xinyan(Key Laboratory of Metallurgical Equipment and Control Technology,Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China;Precision Manufacturing Institute,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081 [3]武汉科技大学精密制造研究院,湖北武汉430081

出　　处：《传感器与微系统》2024年第7期32-35,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金面上资助项目(52275368)。

摘　　要：针对建筑行业现有的抹灰机器人只能垂直上下抹灰问题,研发了一种能多角度的、高效的墙面抹灰机器人。首先,使用SolidWorks建立模拟人手腕转动的5自由度(DoF)机器人三维(3D)模型,其中末端执行器由U型架和3个齿轮组成;然后,以45°方向抹灰为例,对该机器人进行仿真分析,得到该机器人末端执行器和主要关节的动力学特性。研究表明:构建的模型可完成对墙面进行多角度的抹平,且效率是人工的39倍。Aiming at the problem that the existing plastering robots in the construction industry can only plaster vertically up and down,a multi-angle and efficient wall plastering robot is developed.Firstly,SolidWorks is used to build a three-dimensional(3D)model of 5 degree-of-freedom(DoF)robot that simulates human wrist rotation.The end actuator is composed of a U-shaped frame and three gears.Then,taking the plastering in 45°direction as an example,the robot is simulated and analyzed,and the dynamic characteristics of the end actuator and main joints of the robot are obtained.The research shows that the constructed model can finish the multi-angle plastering of the wall surface,and the efficiency is 39 times that of the manual work.

关 键 词：抹平机器人 墙面抹灰 动力学分析 

分 类 号：TP202.1[自动化与计算机技术—检测技术与自动化装置]