Improving the load-to-weight ratio of robots is an essential issue in the field of construction robots. In the present study, a method for analyzing the mobility of the typical multi-loop coupled mechanism is proposed, which combines the iterative replacement of generalized kinematic pairs with the screw theory. Then, the driving force/torque, driving power, and total power of actuators are considered as the evaluation indices, and the influence of different drive layouts on the mechanism is analyzed. Obtained results show that the driving force of the moving pair in the drive layout S1 or S3 changes smoothly compared with that in the drive layout S2, and the peak values of the driving force and the driving torque reduce by 49% and 12%, respectively. This demonstrates that the drive layout S1 effectively reduces the quality of the actuators. Finally, the coupled mechanism with the drive layout is applied in a high-altitude curtain wall installation robot, and the prototype of the robot is developed based on the coupled mechanism. Performed experiments show that the load-to-weight ratio in the proposed robot is about 13%.

改善机器人的负载重量比是建筑机器人领域中的重要问题。在本研究中，提出了一种分析典型多回路耦合机构运动性的方法，该方法将广义运动学对的迭代替换与螺丝理论相结合。然后，将致动器的驱动力/扭矩，驱动功率和总功率作为评估指标，并分析不同驱动布局对机构的影响。获得的结果表明，与驱动布局S2中的驱动布局相比，驱动布局S1或S3中移动对的驱动力变化平稳，并且驱动力的峰值和驱动扭矩的峰值分别降低了49％和12％ 。这表明驱动布局S1有效地降低了致动器的质量。最后，将具有驱动布局的耦合机构应用于高空幕墙安装机器人，并基于该耦合机构开发了机器人原型。进行的实验表明，所提出的机器人的负载重量比约为13％。