Design, Analysis, and Experimental Research of Integrated Operational Equipment for Hanging Column Installation

Facing the problems of intensive manual labor, high safety risks, and low operational efficiency in the installation of hanging column inside tunnels, we propose a mechanized and automated solution based on robotic operations. First, an integrated operational equipment is designed, which can complete the process of hoisting, gripping, lifting, and installing. Next, robot linkage coordinate system is established using modified D-H parameter method to obtain forward kinematic model and simulate robot's workspace. Then, a method combining algebraic and genetic algorithms is proposed to solve the inverse kinematics, the optimal inverse solution is selected based on the shortest path. Furthermore, the seventh-order polynomial is used to plan joint trajectory to avoid shock and vibration, simulate to obtain time-optimal motion curve. Finally, experiments are conducted in factory and field. The results show robot's workspace 100% cover the work range requirements, the proposed method has high accuracy with the orientation accuracy better than 10⁻⁶ and position accuracy better than 10×10 ^− 3 , the motion of joint is smooth and shock-free. The experiments demonstrate the equipment can excellently complete the installation tasks, verifying the feasibility of the solution. The research results provide a theoretical foundation for the equipment design and offer important references for subsequent improvements.