Abstract
Aiming at the difficulty and low automation in installing slabstone under dry-hanging technology which is heavy and large in size, a slabstone dry-hanging installation robot system was developed. According to the working requirements such as load, installing precision and process, we researched a 6-DOF of series-parallel manipulator, analyzed its structural and completed the inverse solution. The inverse position equation of the robot was derived based on the kinematical theory. Mathematical relation between the Position-Orientation parameters and the direction cosine matrix was established. Experiments show that the robot can achieve slabstone auto- installing, and solve the problems in the dry-hanging installing.
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