Abstract
The article presents the concept of building and controlling a Bricklaying Robotic System (BRS). The research presents the design process and how to control a four-cylinder electro-hydraulic servo drive system. The article presents a mathematical model and optimizes the process of aligning the mobile support platform of the masonry robot. The lifting mechanism was presented and its kinematic analysis performed. The mathematical model of the hydraulic system was described. The control system, designed for the masonry robot lifting platform, includes position errors for a single drive axis and synchronization errors between the axes.
Highlights
The construction services market is a dynamically changing market in Europe, with a high indicator of sensitivity to economic fluctuations.The main limitations and problems associated with the traditional way of performing masonry work are: the low availability of qualified masonry brigades, timeliness and loyalty of executive resources towards the service recipient, maintaining constant accuracy and repeatability of masonry works and satisfactory, work pace related to efficiency, human work not supported by robotic tools
The concept of a robotic masonry system for the construction services market brings a fundamental change in the specifics of the masonry services market through unique and innovative features of the system’s functionality: fast masonry works in 24-hour operation - increasing the capacity of building recipients of technology, automating masonry - reducing the need for cheap employees, reducing the risk of losing contractors, reducing the cost of services, improving safety - fewer injuries and accidents, improving the accuracy of construction works and their repeatability
Thanks to introduction of digital technologies in architecture, research centers such as Harvard GSD, Carnegie Mellon and the University of Stuttgart have created research laboratories [3]. These centers have developed various technologies and prototype elements aimed at increasing the role of robots in construction works, in particular bricklaying
Summary
The construction services market is a dynamically changing market in Europe, with a high indicator of sensitivity to economic fluctuations.The main limitations and problems associated with the traditional way of performing masonry work are: the low availability of qualified masonry brigades, timeliness and loyalty of executive resources towards the service recipient, maintaining constant accuracy and repeatability of masonry works and satisfactory, work pace related to efficiency, human work not supported by robotic tools. A number of attempts were made to develop mobile construction works, the most advanced of which were the projects [1,2] These studies date back to the early 90s of the 20th century, when the motivation for designers was to improve the efficiency and savings of building construction, mainly through the use of ability of machines to carry larger loads. 2 ‐ mobile hydraulic module (MHM) 3 ‐ support modules (SM), 4 ‐.masonry wall, 5 ‐ brick warehouse item to perform a new function, intelligent systems in which unmanned, fully automated construction machines perform tasks without direct human intervention. The designed BRS creates a wall 3.1 m high and 5.08 m long from one parking position
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