Hybrid pose adjustment (HyPA) robot design for prefabricated module control in modular construction assembly

IF 9.6 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2024-10-14 DOI:10.1016/j.autcon.2024.105798

Chen Song , Xiao Li , Qianru Du , Ruiqi Jiang , Qiping Shen

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引用次数: 0

Abstract

The on-site assembly process in modular construction (MC) requires precise placement of bulky modules, which involves dangerous and labor-intensive manual work in the current practice. This study aims to automate the process by designing a hybrid pose adjustment (HyPA) robot to achieve complete pose control of the module. To this end, this paper presents the mechanism design and working principle of the HyPA system, demonstrating that module position control, leveling control, steering control, and sway damping can be achieved. The modeling of the HyPA robot is also presented, including the essential parameters to define the model and the construction of the relevant mathematical expressions. Furthermore, a model-based motion generation scheme is proposed to validate the working principle, which combines feedforward motion planning and feedback error correction. Lastly, functionality verification is conducted through both simulation and hardware tests, showcasing the capability of the HyPA robot to perform desired translation and steering angle change while maintaining horizontal leveling.

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用于模块化建筑装配中预制模块控制的混合姿态调整 (HyPA) 机器人设计

模块化建筑（MC）的现场组装过程需要精确放置笨重的模块，而目前的做法涉及危险和劳动密集型的手工作业。本研究旨在通过设计一种混合姿态调整（HyPA）机器人来实现模块的完全姿态控制，从而实现该过程的自动化。为此，本文介绍了 HyPA 系统的机构设计和工作原理，证明可以实现模块位置控制、水平控制、转向控制和摇摆阻尼。本文还介绍了 HyPA 机器人的建模，包括定义模型的基本参数和相关数学表达式的构建。此外，还提出了一种基于模型的运动生成方案来验证其工作原理，该方案结合了前馈运动规划和反馈误差校正。最后，通过仿真和硬件测试进行了功能验证，展示了 HyPA 机器人在保持水平水平的同时执行所需的平移和转向角变化的能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.