A Fully Precast Pier System for Accelerated Bridge Construction in Seismic Regions

Acharya, Mahesh; J., Durán,; Ebrahimpour, Arya; Cantrell, Jared; Mashal, Mustafa

doi:10.1061/jbenf2.beeng-6154

Cited by 1 publication

(1 citation statement)

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“…Their approach uses a new precast method involving structural steel tubes filled with concrete in plastic hinge zones, which act as seismic energy dissipating devices to enhance the structural performance of piers. Another innovative approach to reduce risks and improve construction efficiency includes the development of systems such as the Auto-Climbing Form System (ACS), which automatically raises formwork, and the Slip Form System, which allows continuous concrete pouring while gradually lifting the formwork [11,13].…”

Section: Multi-robot System For Pier Constructionmentioning

confidence: 99%

Development of a Multi-Robot System for Pier Construction

Kim,

Park,

Kim

et al. 2024

Machines

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The construction industry is a challenging field for the application of robots. In particular, bridge construction, which involves many tasks at great heights, makes it difficult to implement robots. To construct a bridge, it is necessary to build numerous piers that can support the bridge deck. Pier construction involves a series of tasks including rebar connection, formwork installation, concrete pouring, formwork dismantling, and formwork reinstallation. These activities require working at heights, presenting a significant risk of falls. If bridge construction could be performed remotely using robots instead of relying on human labor, it would greatly contribute to the safety of bridge construction. This paper proposes a multi-robot system capable of remote operation and automation for rebar structure connection, concrete pouring, and concrete vibrating tasks in pier construction. The proposed multi-robot system for pier construction is composed of three robot systems. Each robot system consists of a robot arm mounted on a mobile robot that can move along rails. And to apply the proposed system to a construction site, it is essential to implement a compliance control algorithm that adapts to external forces. In this paper, we propose an admittance control that takes into account the weight of the tool for the compliance control of the proposed robot, which performs tasks by switching between various construction tools of different weights. Furthermore, we propose a synchronization control method for the multi-robot system to connect reinforcing structures. We validated the proposed algorithm through simulation. Furthermore, we developed a prototype of the proposed system to verify the feasibility of the suggested hardware design and control.

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Section: Multi-robot System For Pier Constructionmentioning

confidence: 99%