The on-site assembly process in modular construction (MC) requires precise placement of bulky modules, which involves dangerous and labor-intensive manual work in the current practice. This study aims to automate the process by designing a hybrid pose adjustment (HyPA) robot to achieve complete pose control of the module. To this end, this paper presents the mechanism design and working principle of the HyPA system, demonstrating that module position control, leveling control, steering control, and sway damping can be achieved. The modeling of the HyPA robot is also presented, including the essential parameters to define the model and the construction of the relevant mathematical expressions. Furthermore, a model-based motion generation scheme is proposed to validate the working principle, which combines feedforward motion planning and feedback error correction. Lastly, functionality verification is conducted through both simulation and hardware tests, showcasing the capability of the HyPA robot to perform desired translation and steering angle change while maintaining horizontal leveling.

中文翻译：

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用于模块化结构装配中预制模块控制的混合姿态调整 （HyPA） 机器人设计


模块化建筑 （MC） 中的现场组装过程需要精确放置笨重的模块，这在目前的实践中涉及危险且劳动密集型的体力劳动。本研究旨在通过设计混合姿态调整 （HyPA） 机器人来实现模块的完整姿态控制，从而实现这一过程的自动化。为此，本文介绍了 HyPA 系统的机构设计和工作原理，证明了可以实现模块位置控制、调平控制、转向控制和摇摆阻尼。此外，还介绍了 HyPA 机器人的建模，包括定义模型的基本参数和相关数学表达式的构造。此外，提出了一种基于模型的运动生成方案来验证其工作原理，该方案结合了前馈运动规划和反馈误差校正。最后，通过仿真和硬件测试进行功能验证，展示了 HyPA 机器人在保持水平调平的同时执行所需平移和转向角度变化的能力。