Vibration Control Of Height Curtain Wall Installation Robot Platform

With the growing in number of high-rise buildings in our country,the problems included in the traditional manual method of the installation of building's curtain wall,such as low efficiency,low accuracy,high danger,etc.,is becoming more and more obvious.These above-mentioned problems can be solved with the application of robotic technology,and the assurance of the stability of work platform,on which the robot installs curtain walls,is the prerequisite to realize the automatic installation of curtain wall.This subject is to,with the support of the National Science & Technology Pillar Program during the Twelfth Five-year Plan Period “The robotic construction equipment for building panels and its demonstration ”,research the vibration of the high-altitude curtain wall installation robot work platform and design a vibration suppressing system to ensure the stability of work platform.This subject firstly analyzes the composition and working process of the high-altitude curtain wall installation robot system,researches theoretically the causes of the vibration of the high-altitude curtain wall installation robot work platform during working process,and proves them by analyzing the high-altitude work platform's vibration mode with finite element software.Figures out that the multidimensional vibration of high-altitude work platform has three main translational directions.Through the analysis and comparison of three relative vibration suppressing methods,chooses the semi-active vibration controller,which is widely applicable,much safer and with simpler construction,as the high-altitude work platform's vibration suppressing method.Secondly,according to the specific requirements to the high-altitude curtain wall installation robot work platform's vibration suppressing mechanism,designs a vibration suppressing system based on the parallel five-link mechanism,constructs its kinematic mode,and analyzes its forward & inverse solution.Optimizes mathematically the whole mechanism's size with software's simulation analysis to the working space of high-altitude work platform.And analyzes the characteristics of the vibration of the parallel five-link mechanism with the Lagrange vibration differential equation.Thirdly,through the analysis of the three working modes of the magnetorhelogical fluid,according to the requirements of high-altitude work platform to its vibration suppressing system,designs a rotary MR damper based on the shear mode.Analyzes the MR damper's magnetic field by calculating its internal magnetic circuit,and optimizes its structural parameters.Builds up the mathematical mode of the relation between the rotary MR damper's rotating speed and its output torque and input current,and proves it with simulation software..At last,builds up respectively the high-altitude work platform's vibration differential equation with/without the vibration suppressing system,and simulates these two situations with software.Through the two vibration curves of these two situations,proves that the vibration suppressing system can commendably suppress the platform's vibration and improve the installation accuracy of curtain wall installation robot.