Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation
The construction of high-rise buildings necessitates efficient and reliable material transport systems to improve productivity and reduce labor-intensive tasks. Traditional methods such as cranes and elevators are widely used but are often constrained by high costs and spatial limitations. Manipulat...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/14/6/69 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | The construction of high-rise buildings necessitates efficient and reliable material transport systems to improve productivity and reduce labor-intensive tasks. Traditional methods such as cranes and elevators are widely used but are often constrained by high costs and spatial limitations. Manipulator-based robotic systems have been explored as alternatives; however, they require complex control algorithms and struggle with confined construction environments. To address these challenges, we propose a lifting robot designed for repetitive inter-floor material transport in construction sites. The proposed system integrates a gear-connected double parallelogram linkage with a crank-rocker mechanism, enabling one-degree of freedom (1-DOF) operation for simplified control and precise positioning. Additionally, a spring-cable-based gravity compensation mechanism is implemented to reduce actuator torque, enhancing energy efficiency and structural stability. A prototype was fabricated, and experimental validation was conducted to evaluate torque reduction, positioning accuracy, and structural performance. Results demonstrate that the proposed system effectively minimizes driving torque, improves load-handling stability, and enhances overall operational efficiency. This study provides a foundation for developing automated lifting solutions in construction, contributing to reduced worker strain and increased productivity. |
|---|---|
| ISSN: | 2218-6581 |