Payload-Aware Tip-Over Stability Framework for a Heavy-Duty High-Lift Mobile Robot in Off-Site Construction

Mobile platforms for installing prefabricated pipe and duct modules inside buildings must transport long payloads and lift them to elevated work positions. Changes in payload arrangement and height alter stability margins and load-transfer responses. This paper presents a payload-informed tip-over prevention framework for a previously developed high-lift swerve-drive construction platform. Four platen load cells estimate payload mass and planar center of gravity (CoG), while vertical CoG is supplied from geometry. Support-edge moments and an explicit error budget define conditional limits on directional translational acceleration and deceleration for pre-operation setting selection and compatibility checks. Load-transfer residuals computed using matched causal processing provide online observations during travel. The reported experiments comprise 46 records for normal and eccentric arrangements formed by repositioning the pipes at two nominal payload levels, approximately 1.05 t and 3.13 t, with platen heights up to approximately 5.04 m. Three stationary acquisitions per arrangement give mass standard deviations of 0.23–0.64 kg, characterizing within-layout repeatability. Nineteen LOW-speed driving records support residual characterization and 92 common-window single-stop response comparisons; six stationary HIGH-setting events demonstrate alarm and inhibit requests. The resulting evidence connects payload characterization, setting supervision and response observation for construction transport and lifting. The directional-limit formulation remains conditional on an identified dynamic-response model and an adequate error budget.