Vibration and control of building drilling robot
                                                                  YANG Yang1, CHEN Bai1, WANG Yaoyao1,2
(1.College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics &Astronautics, Nanjing 210016, China; 2.The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China)

Abstract: Aiming at the problem of vibration caused by drill bit offset in drilling process of construction robot, the model of flexible joint robot, drilling force and time delay control were studied. A theory of drilling force fluctuation caused by bit offset was proposed, and the control method of PD_TDC was introduced to control the position and pose of the robot to reduce bit offset and vibration. The robot system with flexible joints was established by Lagrange dynamics method, the drilling force model was established by dynamic front angle method, and the simulation model of planar feeding robot with three degrees of freedom and specific position was established based on Matlab/Simulink. The rotation offset in the feeding process was compensated quickly by PD_TDC control method. The results indicated that this method can effectively reduce the deviation of joint rotation angle, thus ensuring the reduction of bit offset angle, reducing the variation of drilling force, effectively suppressing vibration and improving the processing quality of holes.

Key words: construction robot; dynamic front angle; drilling force; timedelay control