Abstract
This study presents an innovative solution for a mobile robotic unit intended for the construction industry, the task of which is to automate time-consuming and burdensome masonry work performed manually using bricklayers. A ZSM mobile robotic bricklaying system (ZSM in Polish Zrobotyzowany System Murarski) was designed and developed in a demonstration version. The mobile ZSM consists of an ABB six degrees-of-freedom (6 DoF) industrial robot with a replaceable hydraulic gripper, a Hinowa tracked undercarriage with a hydraulic unit, hydraulic lifting and leveling module, a brick warehouse, a brick belt feeder, a mortar applicator, a control cabinet, and a control panel. Simulation tests were performed in a virtual ABB RobotStudio environment to verify the functioning of the robot and individual ZSM modules during the bricklaying process. ZSM control is based on the Siemens Simatic S7-1500 programmable controller in the fail-safe version, which supervises the correct operation of all devices. ZSM was tested under laboratory conditions and on the construction site. The robotic technological process of building a wall consists of the following stages: the robot grips the bricks, picks them up, manipulates them, applies mortar to them, and places them on the wall.
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