作者：王舒玮，郭计云，盛彬（山西大同大学机电工程学院，山西 大同 037000）
Abstract: [Objective] Currently, the existing repair technologies for Yungang Grottoes are limited to the digital simulation repair of major large grottoes using 3D laser scanning based on 3D printing technology, and cannot cover all the repair work. There are also many small cave stone carvings that are high in height, located in narrow spaces, severely weathered, difficult to collect data manually, and cannot be repaired through manual operations. We must seek a reliable, high-precision, simple to operate, and lowcost repair method to solve this problem. [Method] The research group proposed to apply the robot based on virtual simulation technology to the repair work. Firstly, design a robotic arm that can be used in a narrow space and a matching miniature three-dimensional laser scanning instrument. Secondly, using 3D printing technology to simulate the damaged part of the grotto stone carving, and using SolidWorks software to conduct 3D modeling of the stone carving. Thirdly, judge the practical feasibility of the design scheme based on the simulation modeling and repair of the grotto stone carvings, and further modify and improve the design scheme. Finally, the design is put into actual repair work. [Result] The design has many advantages such as novel topic selection and strong innovation. The designed manipulator has good versatility, which can not only fill the gap that manual work cannot complete the repair of some small grottoes in Yungang Grottoes, but also be used in other similar operations. It can reduce the repair cost and shorten the repair cycle, providing new ideas and methods for the repair work of the entire Yungang Grottoes.
Keywords: Yungang Grottoes; damage repair; robot