Design and Analysis of Double Arm Robot for Plate Installation

In response to the problems of automation, low intelligence, and high risk in the installation of heavy and large-sized panels during the current construction process, a new type of hydraulic-driven hybrid mechanism dual arm robot for panel installation has been designed. The overall design plan of the robot is based on the construction process of sheet installation, while also considering the workspace and load-bearing capacity of the robot. A dual arm robot configuration based on a parallelogram structure has been determined. Based on the characteristics of the mechanism, this article uses a combination of geometric and D-H methods to analyze forward kinematics. Based on the forward kinematics formula, the reachable workspace of the robotic arm is calculated. The improved particle swarm optimization algorithm was used to calculate the inverse kinematics of the position control part of the redundant robotic arm, and the parameters of the robotic arm were optimized based on flexible performance indicators. To lay the foundation for subsequent detailed design and control.