Research On Intelligent Construction Technology Of Wood Structure Based On Robotic Arm And Construction Of Digital Twin Factory

The highly developed technology of robotics has brought new impetus to the construction industry.Among these advancements,the robotic timber construction technology,utilizing the flexibility of the mechanical arm,enables the rapid production of standardized timber structures and the customized construction of personalized timber structures.This provides innovative ideas for the development of timber structures and promotes the green development of the construction industry.This article analyzes the shortcomings of the end tools for robotic timber construction and develops a timber processing collaborative work device,combining milling,cutting,and opening techniques.With the help of open source hardware such as Arduino,an automatic control system for the selection and switching of internal tools of the device is built,and the control statement is written on the Arduino IDE platform to accurately control it.Additionally,based on the visual programming software Grasshopper,the multi-process collaborative processing program is written independently,and the program realizes the path planning and simulation of the robotic arm using the timber processing collaborative work device.This improves the automation level of the robotic arm’s multi-process machining.Secondly,a machine vision-based positioning system is proposed to address the issue of slow basic coordinate measurement,utilizing parallel binocular cameras for image acquisition.By analyzing the imaging principles of binocular cameras and deducing the formula for the transformation between pixel coordinates and 3D coordinates,the initial construction of the machine vision-based positioning system was achieved through the joint calibration of the TCP of the robotic arm end effector with the calibration board using Halcon software.Through actual construction and calibration,the system’s accuracy was proven to be satisfactory,providing a feasible solution for the rapid positioning of basic coordinates.After proposing an interactive control scheme and independently writing a control program to achieve the collaborative operation between the timber structure processing collaborative work system and the robotic arm system,the goal of automated processing with the timber processing collaborative work device operated by the robotic arm was attained.To validate the feasibility of the developed timber structure processing collaborative work system based on robotic arm in timber processing,a prototype of the collaborative work device was produced and a collaborative work system was constructed.The robotic arm was used in conjunction with the prototype device to construct a scaled-down model of an actual structure.Ultimately,the construction of the Lu Ban Bridge was completed.The collaborative work device’s multi-process collaborative function and automatic switching tool function were verified to operate well,and it has certain practical value.Finally,starting from the disadvantages of traditional wooden factory,this thesis puts forward the scheme of intelligent building digital factory of wood structure combining robot technology and computer technology with traditional wooden factory,and carries on the layout planning,combined with collaborative work device and visual positioning system to improve the processing flexibility of the factory.According to the factory layout planning,the digital twin modeling is carried out and the MES management platform is designed to realize the whole life cycle management of materials,equipment and production.