Abstract: The control method and secondary development method for realizing the specific functions such as handling and assembly are analyzed based on the commonly used industrial articulated manipulator in tunnel construction. The main researches and corresponding conclusions are as follows: (1) From the perspective of computer integrated control technology of articulated manipulator, the research idea of realizing the secondary development of articulated manipulator such as intelligent assembly and handling is put forward; the ABB RobotStudio offline programming platform is selected to complete the pre-programming of manipulators′ motion algorithm; the PC SDK mode is adopted to realize the communication between the articulated manipulator and the computer includes exchange data of moving target points; the C# program modules are designed jointly on the computer to realize the network integration control and user interaction. (2) In order to verify the rationality of the control scheme, the corrugated steel 3D model is imported into RobotStudio, the virtual simulation experiment platform for manipulators′ assembly is built, and the I/ O signal logic of the workstation is set up. (3) The simulation experiment of corrugated steel′s assembly controlling through developed software runs successfully, which verifies the feasibility of the proposed integrated control technology. The virtual experimental simulation data can provide reliable reference for practical application and serve as basic results for the related future research on the intelligent assembly of corrugated steel support structure.

Key words: tunnel, assembled corrugated steel structure, industrial articulated manipulator, integrated control, off-line programming, secondary development, virtual simulation experiment