An agile robotic system mounted on scaffold structures for on-site construction work

Abstract

This paper presents our effort in developing an agile robotic system for general in situ construction work of large-scale structures. The robotic system comprises of a lightweight industrial robot mounted on a specially designed robot platform capable of being quickly integrated into available scaffold structures. The current prototype weighs less than 50 kg, making it portable and easily carried around by two persons. Furthermore, by making use of the scaffold structures commonly found around the construction site as its foundation, the robotic system requires very little additional setup and would be capable of entering work areas in the construction site which were previously only accessible by human. The key design components which make up the agile robotic system are discussed in detail in this paper. Optimization of some design variables was also performed to reduce the anticipated deflection of the supporting scaffold pipes based on a derived analytical beam flexion model. Finally, actual experiments were carried out to verify the theoretical model and the viability of the proposed agile robotic system.

Una revisión de plataformas robóticas para el sector de la construcción

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A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

“…Additive Manufacturing (AM) technology using the extrusion-based method has been improving with the integration of robotic systems; specifically, a robot manipulator handling the extrusor and controlling the material deposition [21][22][23]. For example, in [24,25] it is shown the customisation of a robotic arm in the construction industry, aimed at printing concrete walls of different geometries.…”

A novel holonomic mobile manipulator robot for construction sites

“…With the advent of innovative localisation and detection systems, other types of service robots have recently been emerging because they can operate safely and more readily in wider rugged environments such as construction sites. 5,7 Precise control of construction robots is vital in compliance with safety regulations to ensure safety and effectiveness, especially as there are many possible hazards present on building sites. Efficient collision-free path planning is particularly important and has been explored in 8 to achieve obstacle avoidance in an unknown environment with static and dynamic obstacles.…”