随着参数化设计的兴起,建筑构件的复杂性不断增加,传统的建造方法难以满足需求,建筑机器人在此背景下成为重要的生产工具。由于单个机器人的臂展通常不超过3米,无法胜任大尺度建筑构件的生产任务。因此,扩展机器人的工作范围常通过外部轴来实现。然而外部轴与机器人的耦合控制及其运动学解算成为了关键挑战。主要的技术难点包括:定制化建筑机器人、自动求解外部轴、固定轴关节、以及特定的运动模式控制。本文提出了应对这些难点的解决方案,详细介绍了相关的基本概念和算法,并将这些机器人学原理与算法流程封装到建筑师常用的Grasshopper插件中,形成了FURobot软件平台。该平台不仅有效解决了上述问题,还降低了建筑师的使用门槛并提升了生产效率。通过仿真实验,验证了本文算法和软件的有效性。

With the rise of parametric design, the complexity of building components continues to increase. Traditional construction methods are difficult to meet the needs. Construction robots have become an important production tool in this context. Since the arm span of a single robot usually does not exceed 3 meters, it is not competent for the production of large-scale building components. Therefore, the extension of the robot"s working range is often achieved by external axes. However, the coupling control of external axes and robots and their kinematic solution have become key challenges. The main technical difficulties include: customized construction robots, automatic solution of external axes, fixed axis joints, and specific motion mode control. This paper proposes solutions to these difficulties, introduces the relevant basic concepts and algorithms in detail, and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform. This platform not only effectively solves the above problems, but also reduces the threshold for architects to use and improves production efficiency. The effectiveness of the algorithm and software in this paper is verified through simulation experiments.

“十四五”国家重点研发计划，项目编号：2023YFC3806900