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Title
Japanese: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 
English:Proposal of a Parallel Wire Driven Construction Machine with a Three-Dimensional Truss Structure 
Author
Japanese: 岡安悠杜, 難波江裕之, 鈴森康一, 遠藤玄.  
English: Yuto Okayasu, Hiroyuki Nabae, Koichi Suzumori, Gen Endo.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2022講演論文集 
English: 
Volume, Number, Page        
Published date June 1, 2022 
Publisher
Japanese:一般社団法人 日本機械学会 
English: 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2022 
English: 
Conference site
Japanese:札幌 
English: 
Official URL https://robomech.org/2022/
 
Abstract 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 smallscale 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.

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