六足机器人协同机械臂，高效安全完成幕墙安装
Leg-Arm Coordinated Operation for Curtain Wall Installation
- 分层优化控制框架实现腿臂协同运动规划
- 实验验证可稳定完成幕墙、吊顶和地面铺设任务
- 适合复杂工地环境的智能建造，适合机器人研发者参考
随着城市化进程加快，高层建筑和大型公共设施数量增加，幕墙成为现代建筑的重要组成部分，应用广泛。传统幕墙安装方法面临现场地形多变、人工强度大、施工效率低及安全风险高等问题，大面板常需多名工人协作完成。为此，基于六足幕墙安装机器人，设计了一种面向幕墙安装、吊顶安装和地面铺设三类关键任务的分层优化整体控制框架，实现六足腿与折叠臂及串并联机械手的运动协同。在六足幕墙安装机器人上开展实验，验证了所提控制方法的有效性，表明该框架能可靠完成幕墙安装任务，为六足机器人在复杂施工环境中的进一步应用奠定基础。
原文摘要 · Abstract (English)
With the acceleration of urbanization, the number of high-rise buildings and large public facilities is increasing, making curtain walls an essential component of modern architecture with widespread applications. Traditional curtain wall installation methods face challenges such as variable on-site terrain, high labor intensity, low construction efficiency, and significant safety risks. Large panels often require multiple workers to complete installation. To address these issues, based on a hexapod curtain wall installation robot, we design a hierarchical optimization-based whole-body control framework for coordinated arm-leg planning tailored to three key tasks: wall installation, ceiling installation, and floor laying. This framework integrates the motion of the hexapod legs with the operation of the folding arm and the serial-parallel manipulator. We conduct experiments on the hexapod curtain wall installation robot to validate the proposed control method, demonstrating its capability in performing curtain wall installation tasks. Our results confirm the effectiveness of the hierarchical optimization-based arm-leg coordination framework for the hexapod robot, laying the foundation for its further application in complex construction site environments.
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