Design, analysis, and experimental research on installation robot for hanging column

Abstract To address the challenges of labor-intensive operations, high safety risks, and low operational efficiency in the installation of hanging columns within tunnels, we propose a robotics-based mechanized and automated solution. First, integrated operational equipment is designed to perform hoisting, gripping, lifting, and installation. Next, the robot linkage coordinate system is established via the modified D–H parameter method to obtain a forward kinematic model and simulate the workspace. To improve the accuracy of solving the inverse kinematic solution, a hybrid approach combining algebraic methods and genetic algorithms is proposed, and the optimal inverse solution is selected on the basis of the shortest path. Furthermore, to avoid impact and vibration while achieving optimal efficiency, a time-optimal trajectory based on seventh-degree polynomial interpolation is presented. Finally, experiments validation was conducted. The results show that the robot’s workspace fully covers the required operational range. The proposed method achieves high accuracy, with orientation accuracy better than 10 −6 and position accuracy better than 10 × 10 −3 . The motion of the joint is smooth and shock-free. The experiments confirm the equipment’s capability to efficiently complete installation tasks, verifying the feasibility of the proposed solution. The research results provide a theoretical foundation for equipment design and offer important references for subsequent improvements.