Performance Evaluation Model for Construction Manipulators

Abstract

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.