While existing floor tiling robots provide automated tiling for small tiles, robots designed for large and heavy tiles are rare. This paper develops a six-degree-of-freedom Stewart platform-based floor tiling robot for automated tiling of heavy tiles. The key contributions of this paper are: 1) establishing mechanical and kinematic models for a parallel robot to enhance the payload capacity of existing floor tiling robots. 2) designing a dual-camera system for precise visual alignment by capturing tile corner points from a complete perspective. Experimental validation demonstrated the robot's ability to automatically tile heavy floor tiles, with highly synchronized motions. The dual camera system achieved angle and distance deviations within ±0.001° and 0.5 mm. Quantitative analysis using the Borg RPE scale and EMG signals validated a reduction in physical strain. This research provides a feasible solution for automating heavy floor tile installation, effectively mitigating physical fatigue while enhancing the tiling alignment precision.

中文翻译：

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用于厚重地板瓷砖的自动化六自由度 Stewart 平台


虽然现有的地板铺贴机器人为小瓷砖提供自动铺贴，但专为大而重的瓷砖设计的机器人很少见。本文开发了一种基于六自由度的 Stewart 平台地板铺贴机器人，用于重型瓷砖的自动铺贴。本文的主要贡献是：1） 建立并联机器人的机械和运动学模型，以提高现有地砖机器人的有效载荷能力。2） 设计双摄像头系统，通过从完整角度捕捉瓦片角点来实现精确的视觉对齐。实验验证表明，该机器人能够以高度同步的动作自动铺设沉重的地砖。双摄像头系统实现了 ±0.001° 和 0.5 mm 之间的角度和距离偏差。使用 Borg RPE 量表和 EMG 信号的定量分析验证了身体疲劳的减少。本研究为重型地砖的自动化安装提供了一种可行的解决方案，在提高瓷砖对线精度的同时，有效缓解了物理疲劳。