ArticleScientific reports2026
Design, analysis, and experimental research on installation robot for hanging column.
Article in Scientific reports, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors.
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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
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