立体トラス構造を用いたパラレルワイヤ駆動建設機械の提案

抄録

We proposed a model in which three small cranes are used to form a three-dimensional truss structure to perform construction work in a coordinated manner. In this model, the workspace and payload depend only on the strength of the structure because the structure does not tip over as in conventional cranes and excavators. This makes it possible to lift loads while maintaining large workspace, despite the overall light weight. We have also proposed an assembly method to construct the 3D truss structure. In order to verify the feasibility of the proposed model, we conducted small-scale operation verification using radio control models. The operation of the prototype model was confirmed to be highly feasible in all processes of assembly, transportation the bucket, and excavation.