Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited *** arches often have a mass of more than 200 kg and length of more than 4 *** ...
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Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited *** arches often have a mass of more than 200 kg and length of more than 4 *** to the large volume and mass of steel arches and the high requirements for accurately positioning the splicing,it is difficult for a general manipulator to meet the stiffness *** enhance the structural stiffness of the steel arch splicing manipulator,a single-degree-of-freedom(DOF)closed-loop mechanism was added to the grasping structure of the *** on the basic principle of structural synthesis,a solution model of the single-DOF closed-loop mechanism was developed,and alternative kinematic pairs of the mechanism with different input constraints and output requirements were *** on this model,a design method for a single-DOF closed-loop grasping mechanism and a posture adjustment mechanism for a steel arch was *** with the same dimensional subspace equivalence principle of the graphical-type synthesis method,12 types of steel arch splicing manipulator were *** analyzing the motion/force transmission and structural complexity of the steel arch splicing manipulators,the best scheme was selected.A prototype of the steel arch splicing manipulator was *** software was used to obtain clearly the output trajectory of the end of the *** relative spatial positions of the upper and lower jaws under different working stages were analyzed,demonstrating that the manipulator satisfied the grasping *** a steel arch splicing experiment,the grasping effect,docking accuracy,and splicing efficiency of the manipulator met the design *** steel arch splicing manipulator can replace the manual completion of the steel arch splicing operation,significantly improving the operation efficiency.
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