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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

Design, analysis, and experimental research on installation robot for hanging column.

Xiaoqiang Wang^1,2,3, Xijing Zhu⁴, Xiang Li⁵

¹Shanxi Key Laboratory of Semiconductor Ultraprecision Machining Technology and Intelligent Equipment, North University of China, Taiyuan, 030051, China. wangxiaoqiang2026@126.com.

Scientific Reports

|June 9, 2026

Summary

A new robotics system automates tunnel hanging column installation, enhancing safety and efficiency. This mechanized solution precisely controls robotic arms for complex construction tasks, overcoming traditional labor-intensive challenges.

Keywords:

Hanging column Inverse kinematics solution Joint trajectory planning Kinematics analysis Mechanized and automated Robot

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Application of Design Aspects in Uniaxial Loading Machine Development

Application of Design Aspects in Uniaxial Loading Machine Development

Published on: September 19, 2018

Area of Science:

Robotics Engineering
Tunneling and Construction Technology
Automation and Control Systems

Background:

Tunnel construction faces challenges with labor-intensive hanging column installation.
Existing methods present high safety risks and low operational efficiency.
Mechanized and automated solutions are needed to improve tunnel construction processes.

Purpose of the Study:

To develop and validate a robotics-based system for mechanized and automated hanging column installation in tunnels.
To enhance operational efficiency, safety, and precision in tunnel construction.
To provide a theoretical foundation for robotic equipment design in civil engineering.

Main Methods:

Design of integrated robotic equipment for hoisting, gripping, lifting, and installation.
Establishment of robot linkage coordinate system using modified D-H parameters for forward kinematics.
Hybrid inverse kinematics solution combining algebraic methods and genetic algorithms with shortest path selection.
Time-optimal trajectory planning using seventh-degree polynomial interpolation for smooth, efficient motion.

Main Results:

The robotic system's workspace adequately covers the required operational range.
Achieved high accuracy: orientation accuracy better than 10^-6 and position accuracy better than 10 × 10^-3.
Demonstrated smooth, shock-free joint motion and efficient task completion in experimental validation.

Conclusions:

The proposed robotics-based solution is feasible and effective for automated hanging column installation in tunnels.
The system significantly improves safety and operational efficiency compared to traditional methods.
The research provides valuable insights for future robotic equipment development in construction.