Simulation of a Panel Positioning Robot

This paper describes the work and results of a feasibility study into the simulation of a panel positioning robot. A kinematic model was built, using GRASP and ROBCAD software, to simulate robot motion and to determine optimal configuration, cycle times and work envelopes. A dynamic model was then built, using TUTISM, in order to determine the robot’s dynamic response to payloads and disturbances. Test-runs show that the configuration of the robot and its control strategies/servo-mechanisms are feasible, allowing the robot to work alongside a human operator in positioning and fixing panels onto a building’s structure. Data generated in positioning and fixing panels onto a building’s structure. Data generated by the rest-runs have helped to advance the design of the device and are presented.