Design of the structure and motion control system of a stationary robot manipulator for construction work

Abstract

The article presents the results of a comprehensive study dedicated to the development of a stationary robotic manipulator (palletizer) for performing technological operations in the construction industry. The work presents an integrated approach to designing a stationary robotic manipulator, encompassing its structural, hardware, and software aspects. A structural diagram of the automated control system has been developed, which establishes functional connections between the controller, feedback sensors, actuators, and the database for storing operational parameters. This diagram outlines the architecture of the robot’s key components, providing a conceptual framework for implementing the system. A comparative analysis of modern software environments for three dimensional modeling, including Blender, SolidWorks, and Autodesk 3ds Max, has been conducted based on criteria such as accessibility, functionality, testing capabilities, ease of learning, and support for engineering formats. Based on the analysis results, the choice of the Blender platform as the optimal tool is justified, as it provides the best balance between accessibility, visualization capabilities, and manipulator kinematics animation. The modeling methodology is described in detail, including the stages of planning, creating basic geometric primitives, detailed modeling using various tools, and the Mirror, Subdivision Surface, and Boolean modifiers for geometry optimization, as well as creating a skeletal framework to simulate the robot’s movements. A fully functional three-dimensional model of a stationary palletizing robot manipulator has been created, which reproduces its structural features, spatial arrangement of components, and kinematic capabilities. The model allows for the visualization of the movement trajectories of individual manipulator segments and the verification of the design’s functionality in a virtual environment before the physical manufacturing stage. The hardware part of the system was implemented using the Autodesk Tinkercad platform, which allowed for virtual modeling of the electronic circuit connections of components without the need for physical devices. Software has been implemented based on the Arduino microcontroller using the Servo.h library to control servomotors through pulse-width modulation. The practical significance of the obtained results lies in the creation of a functional prototype of a stationary palletizing robot control system, which can be used for educational purposes, demonstrating the principles of robotics in construction, and for further modification. The obtained results provide a basis for expanding the system’s functionality through the integration of additional sensors for automatic object position detection, implementation of autonomous trajectory control algorithms, development of wireless control interfaces, and adaptation of the design for specific construction operations involving the palletization of materials at construction sites.