Open AccessRobotic Assembly System for Steel Structures
Author(s) -
Ci-Jyun Liang,
Shih-Chung Kang
Publication year - 2015
Publication title -
modular and offsite construction (moc) summit proceedings
Language(s) - English
Resource type - Journals
ISSN - 2562-5438
DOI - 10.29173/mocs167
Subject(s) - beam (structure) , rotation (mathematics) , process (computing) , computer science , mechanical engineering , position (finance) , flywheel , engineering , structural engineering , simulation , artificial intelligence , finance , economics , operating system
Workers are required to stand on dangerous unfinished steel structures to assemble elements manually. Therefore, we developed a robotic assembly system (RAS) to prevent accidental falls. The RAS consists of four methods: rotation, alignment, bolting, and unloading. The rotation method utilizes a flywheel equipped on top of a rigging beam to rotate the beam. The vertical alignment relies on a camera and a marker to align the altitude of the beam. The horizontal alignment relies on a specially designed shape that can smoothly guide the beam to the right position. The bolting method adds an additional plug hole above each bolt hole to assemble the beam. The unloading method uses pin mechanisms and motors to unload the cable and the RAS. The system is tested in a scaled indoor experiment and the results show that the process is finished without workers stay in the high place. In conclusion, the RAS helps reduce accidental falls, is suitable to the current erection method, and can be broadly introduced to existing sites.