In the installation process of large-scale external cladding, the labor intensity is high, and it is dangerous and hard to guarantee good construction quality. In view of these issues, this study designs a construction robot for external cladding installation, as a better solution. First, the advantages and disadvantages of the current building external cladding hanging process are discussed. The components, suitable for automatic installation, are selected to develop an automatic installation process for the building external cladding. According to the process steps and installation action flow, the installation robot is first adjusted. After the design of a step-by-step workflow of positioning and installation, a robot with a six-degree-of-freedom string-mixing mechanism is designed. Finally, a prototype of the proposed external cladding installation robot is developed, and the system is experimentally verified under simulation conditions and real operation. The test results show that the external cladding installation robot system has a strong theoretical basis. The series-parallel hybrid six-degree-of-freedom structure is reasonable, design wise. It helps to complete the automatic installation of the building external cladding and improve the automation level of large-scale plate installations.

中文翻译：

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外墙安装机器人系统设计

大型外墙安装过程中，劳动强度大，危险性大，施工质量难以保证。针对这些问题，本研究设计了一种用于外墙安装的施工机器人，作为更好的解决方案。首先，讨论了当前建筑外墙挂板工艺的优缺点。选择适合自动安装的组件来开发建筑外墙的自动安装过程。根据工艺步骤和安装动作流程，首先对安装机器人进行调整。在设计了定位和安装的分步工作流程后，设计了具有六自由度串线混合机构的机器人。最后，开发了所提出的外覆层安装机器人的原型，并在模拟条件和实际操作下对该系统进行了实验验证。测试结果表明，外墙安装机器人系统具有较强的理论基础。串并联混合六自由度结构合理，设计精巧。有助于完成建筑外墙的自动化安装，提高大型板材安装的自动化水平。