Design of a Mobile Manipulator for Curtain Wall Installation

Abstract

Abstract The installation of the high-altitude curtain wall is mainly completed manually with simple mechanical assistance. The construction process is characterized by high labor intensity, high risk, low efficiency and low quality. To improve the automation and intelligence of curtain wall installation, improve construction efficiency and reduce labor intensity, a mobile manipulator for curtain wall installation is developed. Firstly, the curtain wall installation process is analyzed. Secondly, kinematics modeling is established, and the forward and inverse kinematics are analyzed and solved. Finally, the experiment is carried out to complete the tasks of grasping, rolling over and transporting stone, glass, ALC plate and other dense and semi-dense materials.