3.1 Structural design
The existing construction robots generally have problems such as large
volume and heavy mass, and their functions are also affected. To reduce
or avoid functional impairment, the mechanical structure can be
simplified or replaced with lightweight materials, such as: Jianghong
Sun et al. (2015) proposed a 2-PSS&PPU parallel micro-robot mechanism
based on the workspace principle of the parallel mechanism. This
mechanism has a simple structure. Makhsuda et al. (2017) injected nylon
66 composite material containing 70% glass fiber into the back cover of
automobile reducer to replace the original aluminum alloy back cover.
The experiment has proved that the composite material contains all the
properties required by the aluminum alloy back cover, and has advantages
of lower cost, lighter weight and higher hardness.