【摘要】 当前，建筑工地的钢筋节点绑扎大多依靠人工完成，且现有的少数机器人在钢筋网面移动时存在重心偏移和倾覆性问题。为此，以绑扎机器人为研究平台，提出了一种面向非连续突变的动力学稳定控制策略，有效解决了机器人移动时存在的倾覆性问题。介绍了机器人横向移动的工作原理和控制流程，分析四种钢筋工况，通过稳定性判别依据分析横向移动的倾覆性，得出机器人加速度约束条件，将钢筋置于极限倾斜角度进行测试实验。结果表明，在使用该策略时，机器人在理想或非理想工况均能实现横向移动，且实际加速度始终低于理论倾覆加速度阈值，具有较强的抗倾覆性，确保机器人横向移动的稳定性。为机器人在钢筋网面或其他复杂环境中的运动控制提供了一个可行且实用的解决方案。更多还原

【Abstract】 This paper proposes a dynamics-based stability control strategy targeting discontinuous mutation for a binding robot, effectively resolving tipping issues during robotic locomotion. This paper elaborates the working principles and control workflow of the robot’s lateral movement, analyzes four steel bar working conditions, and derives acceleration constraints for lateral motion through stability criteria. Experiments are conducted with steel bars at critical tilt angles. Results demonstrate that the proposed strategy enables stable lateral movement under both ideal and non-ideal conditions, with practical accelerations consistently below theoretical tipping thresholds, exhibiting robust anti-tipping performance.更多还原