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...
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| Format: | Article |
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MDPI AG
2025-05-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/6/69 |
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| author | Byungseo Kwak Seungbum Lim Jungwook Suh |
| author_facet | Byungseo Kwak Seungbum Lim Jungwook Suh |
| author_sort | Byungseo Kwak |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a01d5f2322104673bc4e123b183afc35 |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-a01d5f2322104673bc4e123b183afc352025-08-20T03:27:32ZengMDPI AGRobotics2218-65812025-05-011466910.3390/robotics14060069Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity CompensationByungseo Kwak0Seungbum Lim1Jungwook Suh2Department of Robot and Smart System Engineering, Kyungpook National University, Daegu 41566, Republic of KoreaDepartment of Robot and Smart System Engineering, Kyungpook National University, Daegu 41566, Republic of KoreaDepartment of Robot and Smart System Engineering, Kyungpook National University, Daegu 41566, Republic of KoreaThe 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.https://www.mdpi.com/2218-6581/14/6/69lifting robotmaterial transportgravity compensationconstruction automationmechanical design |
| spellingShingle | Byungseo Kwak Seungbum Lim Jungwook Suh Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation Robotics lifting robot material transport gravity compensation construction automation mechanical design |
| title | Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation |
| title_full | Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation |
| title_fullStr | Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation |
| title_full_unstemmed | Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation |
| title_short | Design of a Lifting Robot for Repetitive Inter-Floor Material Transport with Adjustable Gravity Compensation |
| title_sort | design of a lifting robot for repetitive inter floor material transport with adjustable gravity compensation |
| topic | lifting robot material transport gravity compensation construction automation mechanical design |
| url | https://www.mdpi.com/2218-6581/14/6/69 |
| work_keys_str_mv | AT byungseokwak designofaliftingrobotforrepetitiveinterfloormaterialtransportwithadjustablegravitycompensation AT seungbumlim designofaliftingrobotforrepetitiveinterfloormaterialtransportwithadjustablegravitycompensation AT jungwooksuh designofaliftingrobotforrepetitiveinterfloormaterialtransportwithadjustablegravitycompensation |