Research On Tele-operation System For The Installation Of Aerial Curtain Wall Based On Force Feedback

Since 21 st Century,with the rapid development of architectural decoration industry,curtain wall has been applied to the field of architectural decoration widely and accepted by people as a new architectural language.At the same time,with the rapid growth of urban population,high-rise building become the major type of the architectures in place of multi-storied building,that made the growing requirements of the aerial curtain wall installation.During the installation of the curtain wall artificially,problems like large labor intensity,low construction efficiency,and high risk has emerged,which prove to be the problem that must be faced in the development of the architectural decoration industry.This paper analysis the current situation of the architectural decoration industry,researches the current situation of the construction robot and tele-operation technology,summarizes the difficulty to realize automation of our country aerial building curtain wall.Then,the paper extracts the main points of this article.At last,a train of thought that design a tele-operation system based on force feedback has been presented.Firstly,According to the analysis of the traditional slab mounting installation process,a new installation process is developed.According to the requirement of the tele-operation system,the design of the system’s architecture has been finished.Secondly,A dynamical model of the tele-operation system has been set up based on theoretical analysis,this paper use the Liapunov ’s Stability Theorem and the diaphaneity theorem to confirm the range of the parameters which can guarantee the stability and the diaphaneity of the tele-operation system.Then sets up the conversion of the workspace between master manipulator and slave manipulator according to the asymmetrical structure,makes sure the trajectory planning for the curtain wall installing robot,and designs the fuzzy PID controller of the curtain wall installing robot,etc.On the basis above,a fully functional tele-operation system has been set up.Finaly,the paper validated the function of the system by experiment.Form the result of the experiment,a conclusion can be confirmed that the system which designed in this paper is fully functional and it can finish the installation of the aerial curtain wall excellently.