Communications - Scientific Letters of the University of Zilina 2021, 23(4):B257-B264 | DOI: 10.26552/com.C.2021.4.B257-B264

Bricklaying Robot Lifting and Levelling System

Piotr Wos ORCID...1, Ryszard Dindorf ORCID...1, Jakub Takosoglu ORCID...1
Department of Manufacturing Engineering and Metrology,Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology, Kielce, Poland

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.

Keywords: bricklaying robot; electro-hydraulic servo drive; levelling system

Received: September 17, 2020; Accepted: January 26, 2021; Prepublished online: June 23, 2021; Published: October 1, 2021  Show citation

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Wos, P., Dindorf, R., & Takosoglu, J. (2021). Bricklaying Robot Lifting and Levelling System. Communications - Scientific Letters of the University of Zilina, 23(4), B257-264. doi: 10.26552/com.C.2021.4.B257-B264
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