Kinematics and Trajectory Planning of the Masonry Robot

Jing-Shan Zhao, Song-Tao Wei, Xiao-Cheng Sun, Junjie Ji
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Abstract

This paper proposes a mechanical system for a masonry robot comprising four parts: an omnidirectional mobile platform, a lifting platform, a six-degrees-of-freedom manipulator, and a grasping mechanism. The robot is specifically designed to carry out brick masonry on construction sites and is equipped to move bricks smoothly with slurry to their intended location. To prevent mortar from being shaken off the brick, the grasping mechanism is required to maintain optimal velocity and optimized acceleration. To implement online trajectory planning with velocity and acceleration constraints, the paper suggests an approach based on screw theory for resolving the inverse kinematics of the masonry robot. This method allows the inverse kinematic equations to be used to determine a unique solution for all joints of the redundant driver of the masonry robot. The approach and strategy are validated through numerical simulations of trajectory planning using a fifth-degree polynomial.
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砌体机器人运动学与轨迹规划
本文提出了一种砌体机器人的机械系统,由四部分组成:全向移动平台、升降平台、六自由度机械手和抓取机构。该机器人专门设计用于在建筑工地进行砌砖工作,并配备了将砖块与浆料顺利移动到预定位置的设备。为了防止砂浆从砖上脱落,要求抓取机构保持最佳速度和最佳加速度。为了实现速度和加速度约束下的在线轨迹规划,提出了一种基于螺旋理论的砌体机器人运动学逆解方法。该方法允许利用运动学逆方程确定砌体机器人冗余驱动器所有关节的唯一解。通过五次多项式轨迹规划的数值仿真,验证了该方法和策略的有效性。
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