Operability Assessment of Indoor Dismantlement Assistance Machine

Abstract

Hydraulic crushers are available in dismantlement circumstance for example office buildings. Because the crushers weigh 35 to 50kg, adopting new accessory functions were highly expected for saving work/worker and improvements on safety. In this study, an indoor dismantlement assistance machine, which could be stably controlled by a single worker, was developed and operability assessment was done. For operability assessment, two conditions: easy-to-move on (ⅰ).one direction, (ⅱ). every direction, are compared to evaluate the priority of work efficiency. First, notation system to combine the machine's Mobility Ellipsoid and the worker's Manipulating Force Ellipsoid into one ellipsoid (i.e. Workability Ellipsoid) was suggested. The Workability Ellipsoid describes the machine-head mobility distribution, and the major axis direction: its length varies with its viscosity resistance and the working posture. By adopting this feature, the crane arm's viscosity resistance and the working posture were decided.

Dismantling interior facilities in buildings by human robot collaboration

“…Even though it is possible to achieve both effectiveness and operability in the case where a human worker and a robot share the workpiece [8] this way of assistance demands a high level of safety [9]. By using the remote operation of the robot the dismantling task becomes more secure.…”

Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings

“…And in Balaguer and Abderrahim (2008) and Chu et al (2008) can be found more studies about robotic systems in the construction industry. The number of robotic applications on dismantling and disassembling tasks are rather limited and mainly seen in hazardous nuclear decommissioning tasks (Bakari et al, 2007), methods for the generation of disassembly sequences for recycling end‐of‐life goods (Dini et al, 2001), disassembly stations for used cars (Büker et al, 2001), and modification of hydraulic crushers to convert them into indoor assistance machines to achieve concrete wall dismantling (Shimoi et al, 2006). However, to the best of our knowledge, in the literature there are no studies about dismantling office interiors.…”