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

Design, Analysis, and Experimental Research of Integrated Operational Equipment for Hanging Column Installation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Design, Analysis, and Experimental Research of Integrated Operational Equipment for Hanging Column Installation Xiaoqiang Wang, Xijing Zhu, Xiang Li, Jingyu Yang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8043173/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract 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. Physical sciences/Engineering Physical sciences/Mathematics and computing hanging column mechanized and automated robot kinematics analysis inverse kinematics solution joint trajectory planning Full Text Additional Declarations No competing interests reported. Supplementary Files supplementarymaterial.pdf VideoS1.mp4 VideoS2.mp4 Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 20 Feb, 2026 Reviews received at journal 19 Feb, 2026 Reviews received at journal 18 Feb, 2026 Reviewers agreed at journal 16 Feb, 2026 Reviewers agreed at journal 15 Feb, 2026 Reviewers invited by journal 11 Nov, 2025 Editor invited by journal 10 Nov, 2025 Editor assigned by journal 07 Nov, 2025 Submission checks completed at journal 07 Nov, 2025 First submitted to journal 05 Nov, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8043173","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":546310510,"identity":"9afb53f7-164c-4aac-b5ff-cd5e9d89374b","order_by":0,"name":"Xiaoqiang Wang","email":"","orcid":"","institution":"North University of China","correspondingAuthor":false,"prefix":"","firstName":"Xiaoqiang","middleName":"","lastName":"Wang","suffix":""},{"id":546310511,"identity":"1ca69d4a-3b83-4a68-a4a8-2de944c3f061","order_by":1,"name":"Xijing 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and automated, robot, kinematics analysis, inverse kinematics solution, joint trajectory planning","lastPublishedDoi":"10.21203/rs.3.rs-8043173/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8043173/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eFacing 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\u0026times;10\u003csup\u003e\u0026minus;\u0026thinsp;3\u003c/sup\u003e, 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.\u003c/p\u003e","manuscriptTitle":"Design, Analysis, and Experimental Research of Integrated Operational Equipment for Hanging Column Installation","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-11-22 01:21:52","doi":"10.21203/rs.3.rs-8043173/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2026-02-20T06:44:18+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2026-02-19T13:26:38+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2026-02-19T04:02:13+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"338737016622753545320491364913421788518","date":"2026-02-16T10:52:32+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"320390248628611545998873817584227022903","date":"2026-02-16T04:45:47+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-11-12T03:22:54+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2025-11-11T03:06:18+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-11-07T11:56:58+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2025-11-07T11:54:54+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2025-11-06T03:12:31+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"a3931307-15cf-4342-9576-c894b158946d","owner":[],"postedDate":"November 22nd, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[{"id":58115295,"name":"Physical sciences/Engineering"},{"id":58115296,"name":"Physical sciences/Mathematics and computing"}],"tags":[],"updatedAt":"2026-05-15T09:55:20+00:00","versionOfRecord":[],"versionCreatedAt":"2025-11-22 01:21:52","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-8043173","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8043173","identity":"rs-8043173","version":["v1"]},"buildId":"XKTyCvWXoU3ODBz1xrDgd","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}