The article deals with the design of a walking robot with gripping devices that allow the robot to move on arbitrarily oriented surfaces in space. Such robots are relevant primarily for the inspection of various industrial structures. A model of a two-support robot with gripping devices that allow it to be attached to support surfaces with a small curvature, but arbitrarily oriented in space, is proposed. To ensure attachment to the support surfaces, the robot is designed with five degrees of freedom. An important criterion is the possibility of dexterous movement on surfaces. One of the degrees of freedom of the robot was made linear, which makes it easier to step over obstacles and allows you to implement simpler walking algorithms. When the robot is attached to the supporting surfaces by two gripping devices at once, the kinematic chain is closed. This can lead to an increase in forces and moments in the robot’s links. In this paper, it is applied to use two methods of controlling the drives of the links together – the implementation of impedance control by introducing feedback on the evaluation of the moment based on the motor currents and ensuring the pliability of the gripping devices due to its own elasticity. A mathematical simulation of the robot was carried out, which showed the possibility of reducing the forces in the robot links when attaching the robot to two support surfaces at the same time. The best results were achieved when controlling the current vector of a synchronous motor and using current signals to implement impedance control.

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Introduction. Development of construction technologies and materials entails the use of larger and heavier aercrete blocks. Hence, it promotes construction industry automation through the use of robotic systems. Due to considerable costs of development, production and operation of robotic systems capable of substituting human workers at a construction site, thorough substantiation of their efficiency (or investment appeal) is required. It encompasses the calculation of total costs and the timing of its development and implementation, since no universal comprehensive solutions are available now. Materials and methods. The co-authors have summarized practical design and engineering problems that may accompany the development of novel machinery and preparation of investment projects towards development of a construction robotic system (CRS) designated for aircrete block laying in the course of construction of buildings and structures. Two groups of experts were involved, Group One had civil engineers and Group Two had designers of robotic and mechatronic systems. Methods of expert evaluations and mathematical statistics were used; the co-authors also addressed specialized Internet websites and publications on design and engineering solutions. Results. A list of criteria describing the performance of a robotic system was made with a focus on most important factors. The co-authors identified a set of parameters whose availability in a robotic system ensures ideal blockwork. The co-authors have developed a technical specification for a robotic system, identified its cost and developed an implementation schedule. Conclusions. A formalized description of the future CRS, designated for construction purposes, is provided for the period of concept development. The co-authors also provided a reliable assessment of potential costs and schedules at the problem statement stage (a feasibility study), as it is important for the assessment of implementability of investment processes (a business plan) in terms of making a decision to initiate project implementation.