A mobile robot for on-site construction of masonry

Pritschow, Günter; Dalacker, M.; Kurz, Jochen H.; Zeiher, J.

doi:10.1109/iros.1994.407628

Cited by 15 publications

(8 citation statements)

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“…In einem Sonderforschungsbereich an der Universität Stuttgart wurden dazu ausführliche Untersuchungen vorgenommen und Roboter entwickelt [2]. General design of a robot for on-site masonry building [3] Bild 1. Durchgesetzt in der Praxis hat sich insbesondere letzterer nicht, da die weiterhin erforderlichen manuellen Arbeiten und der Wartungsumfang zu umfangreich waren.…”

Section: Current Building Robots 221 Reinforced Concrete Printerunclassified

“…Dabei handelte es sich um einen Roboter für die Vorfertigung von Mauerwerkstafeln und einen Roboter für die Baustelle (siehe Bild 1). Aufbauprinzip eines Roboters für die Baustelle [3] leistung dar und ähneln den in den weiteren Abschnitten beschriebenen aktuellen Robotern. Diese Roboter stellen aber definitiv eine Pionier- Fig.…”

Section: Current Building Robots 221 Reinforced Concrete Printerunclassified

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Robotertechnik für den Mauerwerksbau – Internationaler Status und Überlegungen für den deutschen Markt

Brehm

2019

Mauerwerk

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Masonry building is subject to the consequences of societal developments just as much as any other industry. Demographic change and digitalisation in particular will be disruptive and change the industry significantly. While demographic change will mostly generate challenges, digitalisation offers many opportunities, especially for the coping with developments due to demographic change, such as the lack of skilled workers. One of these opportunities is represented by robots for masonry building. This paper provides an overview of the current status of masonry robots and analyses the special requirements for masonry robots in the German market.

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Section: Current Building Robots 221 Reinforced Concrete Printerunclassified

Robotertechnik für den Mauerwerksbau – Internationaler Status und Überlegungen für den deutschen Markt

Brehm

2019

Mauerwerk

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“…Most work in cooperative manipulation with force feedback focuses on fixed-based manipulators (Mukaiyama et al, 1996;Qingguo and Payandeh, 2003). A robot has also stacked masonry blocks (Pritschow et al, 1994).…”

Section: Related Workmentioning

confidence: 99%

Sustainable cooperative robotic technologies for human and robotic outpost infrastructure construction and maintenance

et al. 2006

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Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes use of resources constrained by a space environment such as computation, power, communication, and sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. This paper provides quantitative results for formation keeping in component transport, precision instrument placement, and construction tasks.

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“…Many external factors to the bricklayer him/herself can have a considerable effect on productivity; Ultimately however, the average bricklaying rate of one human is 140 bricks/hour [3] . In addition to all the disadvantages LA REVUE POUR LES ÉTUDIANTS EN TECHNOLOGIE ET SCIENCES DOI: 10.13034 / JSST-2015-032 of manual bricklaying, 1993 studies reported a lack of skilled labor in the German masonry construction industry [4] . Several studies observed a high rate of inefficiency in the masonry industry of different countries.…”

Section: Introductionmentioning

confidence: 99%

“…Generally, the bricklaying mechanism involves the concept of the human arm, as discussed in literature [4,10,11,13] . This concept is based on a long arm with a vacuum gripper at the upper end, which is assembled onto a mobile base.…”

Section: Introductionmentioning

confidence: 99%

Design, Prototyping, and Programming of a Bricklaying Robot

Aguair

Behdinan

2015

JSST

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This paper presents the development of a Bricklaying Robot capable of building entire walls. This project was motivated by opportunity of automation in construction, which remains costly and inefficient. Several studies have described specialized robot for masonry works, most of them incorporating the human arm concept that requires complex programming and low productivity. In order to improve this model, an innovative concept of a short arm assembled into a lift platform was introduced in this paper. The robot was modeled in Solidworks ® , followed by motion study and dynamic analysis to optimize the model. A prototype in 1/4 scale was built to demonstrate its feasibility, detecting and correcting flaws. The prototype was tested by programming servo motors using Arduino UNO hardware and C ++ code. Finally, robot kinematics was analyzed in a construction site scenario. Concordance between the virtual simulation and the experimental prototype results demonstrated the functionality and effectiveness of the proposed design. The invention of this Bricklaying Robot will represent a technological advancement in developing new mechanisms and codes, which may be responsible for increasing productivity and reducing risks of masonry construction. Future analysis of global bricklaying market might be conducted to prove its commercial viability.Cet article présente le développement d'un robot de maçonnerie capable de construire des murs entiers. Le projet est motivé par une grande possibilité pour l'automatisation dans le bâtiment, un domaine qui reste malsain, coûteux et inefficace. Plusieurs recherches discutent des robots spécialisés pour les travaux de maçonnerie ; la plupart de ces robots utilisent le modèle du bras humain, une conception qui nécessite la programmation complexe et présente une perte de productivité. Cet article a pour but d'améliorer le modèle courant en explorant une nouvelle conception d'un bras court, assemblé comme une plate-forme élévatrice. Ce robot a été conçu en Solidsorks ® , et une étude de mouvement et une analyse dynamique ont été menées pour optimiser le modèle. Un prototype à l'échelle 1:4 a été conçu pour démontrer la faisabilité du robot, tout en détectant et corrigeant ses défauts. Le prototype a été évalué par la programmation des servomoteurs, en utilisant du matériel informatique d'Arduino UNO et le langage de programmation C ++. Finalement, la cinématique du robot a été analysée en un scénario de chantier de construction. La fonctionnalité et l'efficacité de la conception proposée ont été démontrées par la concordance entre la simulation virtuelle et les résultats du prototype expérimental. L'invention de ce robot de maçonnerie constituera une avance technologique dans l'étude et le développement de nouveaux mécanismes et des codes informatiques, qui permettront d'améliorer la productivité et réduire les risques de maçonnerie. Une analyse de marché mondial de maçonnerie peut être menée à l'avenir pour vérifier la viabilité commerciale du robot.

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A mobile robot for on-site construction of masonry

Cited by 15 publications

References 0 publications

Robotertechnik für den Mauerwerksbau – Internationaler Status und Überlegungen für den deutschen Markt

Robotertechnik für den Mauerwerksbau – Internationaler Status und Überlegungen für den deutschen Markt

Sustainable cooperative robotic technologies for human and robotic outpost infrastructure construction and maintenance

Design, Prototyping, and Programming of a Bricklaying Robot

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