Application of Large-Scale Manipulators in the Construction Environment

Hsieh, Ting-Ya; Haas, Carl T.

doi:10.22260/isarc1993/0008

Cited by 3 publications

(2 citation statements)

References 2 publications

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“…The need and applicability of large scale construction manipulators for different activities such as piping erection, elevated concrete placement, painting, scaffolding erection and demolition in the construction environment has been identified by Hsieh [4].…”

Section: Introductionmentioning

confidence: 99%

Path Planning of Cooperative Construction Manipulators Using Genetic Algorithms

Sivakumar¹,

Varghese²,

Babu³

2000

Proceedings of the 17th IAARC/CIB/IEEE/IFAC/IFR International Symposium on Automation and Robotics in Construction

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This paper presents the work done to investigate the potential of applying Genetic Algorithms (GA's) to automate the path planning of cooperative construction manipulators. Though there is potential to achieve economy by using cooperative manipulators, this method is not being commonly adopted in construction sites. A key barrier to the use of cooperative manipulators is the meticulous planning required to ensure feasible and safe operation. The basic premise of this work is that automating the different planning steps will contribute to more reliable plans and thus promote the usage of cooperative manipulator. Two methodologies have been proposed using the concept of Configuration Space (C-Space) technique in conjunction with the genetic search. The implementation details and results of the best methodology is presented and discussed for a test problem involving two cooperative manipulators each of 2 DOF.

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Section: Introductionmentioning

confidence: 99%

Path Planning of Cooperative Construction Manipulators Using Genetic Algorithms

Sivakumar¹,

Varghese²,

Babu³

2000

Proceedings of the 17th IAARC/CIB/IEEE/IFAC/IFR International Symposium on Automation and Robotics in Construction

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“…Currently, their applications include fireproof material spraying [1], interior partition installation [2], concrete masonry walls construction [2], piping erection [3], concrete placement [4,5,6], facade/surface finishing [7], reinforcement steel placement [8], palletized load handling [9], and interior finishing [10]. A more in-depth discussion of the characteristics of construction manipulators can he found in [11].…”

Section: Introductionmentioning

confidence: 99%

Performance Evaluation Model for Construction Manipulators

Hsieh¹,

Haas²

1993

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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This paper describes a model for evaluating the performance of construction manipulators. It involves four steps: (1) constructing the operation plan, (2) evaluating task and machine related parameters, (3) evaluating time components and (4) total time study. Each of these steps is described in detail, and a hypothetical example is used to demonstrate the procedure. The results indicate that based on the physical capabilities of it prototype pipe manipulator, a well designed control system may reduce the task completion time by a factor of 4.25 to 6.33. The exunple also reveals that the manipulator's existing 8-lever control system will result in lengthy sensing-and-decision delays. Although this evaluation model is developed for construction manipulators, it is perceived that it will also he useful for a larger group of automated construction equipment with some minor modifications. It can be used to exaunine performance of an operating system, or to predict the performance of 'a system design.

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