自行走龍門式建筑機器人虛擬樣機建模及運動學動力學分析.pdf

1、河北工業(yè)大學碩士學位論文自行走龍門式建筑機器人虛擬樣機建模及運動學動力學分析姓名：李林青申請學位級別：碩士專業(yè)：儀器科學與技術指導教師：徐安平2010-12自行走龍門式建筑機器人虛擬樣機建模及運動學動力學分析 ii VIRTUAL PROTOTYPE MODELING AND KINEMATIC AND DYNAMIC ANALYSIS OF SELF-WALKING GANTRY CONSTRUCTION ROBOT ABSTRA

2、CT Construction automation can solve the problems of workforce aging and the labor shortage in the construction industry. Computer-controlled construction robot is a electro-mechanical system which can completely or pa

3、rtially replace the human. In this thesis deals with the construction robot by using mechanical design theory, robotics, multi-body kinematics and dynamics, virtual prototyping and other relative theories and methods. Th

4、e contribution can be summarized as follows: 1. SWGCR is presented based on virtual prototype according to the problems of traditional construction industry. 2. Based on the theory of kinematics and dynamics, the mechan

5、ical structure of SWGCR is designed. The working principle is described in detail, and the problems and requirements in the process of structure design are expounded. Finally, an objective evaluation is made on the whole

6、 structure design. 3.The geometric model of SWGCR is built up based on Solidworks software environment. The running gear including the gantry part and the dan part, screw and manipulator motion parts are simulated by usi

7、ng the dynamic simulation software ADAMS. At last a series of kinematics curves are plotted. 4. To obtained the condition of not capsizing at work, the stability of screw, machine capsizing and the whole modal are analyz

8、ed according to the actual work situation of SWGCR. The work in this thesis will lay a solid foundation for improving the construction robotic technology. Also it has important significance in promoting the constructio