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

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.