【摘要】 针对装配式建筑预制构件瓷砖自动铺贴的需求，设计了一种基于并联机构的瓷砖抓取、振实一体式的机器人新构型。首先，设计了由3个分支组成的铺贴机器人，其每个分支中包含2个不同类型的作动器，分别对应机器人的抓取工作模式和振动工作模式；其次，结合机构的布置特点，分析了机构的自由度特性，推导了其位置正、反解；再次，针对广义坐标，采用等效运动旋量表描述闭环四杆机构的运动特性，将振动工作模式下的铺贴机器人瞬时等效为■并联机构；最后，基于旋量代数推导了机器人等效机构的运动学一、二阶影响系数，并给出了相应的数值算例。结果表明，铺贴机器人有较大的工作空间，结合不同频率和幅值的振动输出，能够实现瓷砖抓取、振实一体化。所提出的瓷砖铺贴机器人具有一定可行性，为瓷砖自动铺贴的进一步研究与应用提供了参考。更多还原

【Abstract】 Aiming at the requirement of automatic tile paving of prefabricated components in prefabricated buildings, a new robot configuration based on parallel mechanism for tile grabbing and compacting was proposed. Firstly, the designed paving robot consisting of three branches was designed, and each of which contained two different types of actuators corresponding to the grasping and vibration working modes of the robot. Secondly, combined with the layout characteristics of the mechanism, the degree of freedom characteristics of the mechanism were analyzed, and the forward and inverse solutions for its position were derived. Thirdly, for the generalized coordinates, an equivalent motion screw was used to describe the motion characteristics of the closed-loop four-bar mechanism, and the paving robot in the vibration working mode was instantaneously equivalent to a ■ parallel mechanism. Finally, based on the screw algebra, the first-order and second-order influence coefficients of kinematics were derived in a concise and compact form, and the corresponding numerical examples were given to verify. The results show that the paving robot has a large working space. Combined with the vibration output of different frequencies and amplitudes, it can realize the integration of tile grabbing and compacting. The proposed tile paving robot has certain feasibility and provides reference for further research and application of automatic tile paving.更多还原