Insights into automation of construction process using parallel-kinematic manipulators
(2022) 39th International Symposium on Automation and Robotics in Construction, ISARC 2022 p.25-32- Abstract
This paper discusses challenges, experiences and lessons learned so far while transforming a masonry build system based mostly on manual labour into a robot automated build system. Our motivation for selection of this masonry process is to try out how robot automation could impact the architects in their design work by providing a tool to directly manipulate wall expression down to individual brick level. Such manipulation is often much too costly for manual labour today. Moreover, masonry is a challenging application to automate. Understanding the manual processes involved and transforming them into automation equivalents faces several challenges; among them handling and distribution of the different materials involved, selection of... (More)
This paper discusses challenges, experiences and lessons learned so far while transforming a masonry build system based mostly on manual labour into a robot automated build system. Our motivation for selection of this masonry process is to try out how robot automation could impact the architects in their design work by providing a tool to directly manipulate wall expression down to individual brick level. Such manipulation is often much too costly for manual labour today. Moreover, masonry is a challenging application to automate. Understanding the manual processes involved and transforming them into automation equivalents faces several challenges; among them handling and distribution of the different materials involved, selection of tooling, sensing for handling of variation and digital tooling for the programming of the process. A novel parallel-kinematic manipulator (PKM) with computerized numerical control (CNC) is used as target for experiments, because the performance properties in stiffness, workspace and accuracy will allow us to extend work into further construction processes involving heavy and dirty manual labour.
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- author
- Klöckner, M. LU ; Haage, M. LU ; Eriksson, H. ; Malm, H. ; Nilsson, K. ; Robertsson, A. LU and Andersson, R. LU
- organization
- publishing date
- 2022
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Concrete build system, Construction robotics, Masonry, Parallel-kinematic manipulator
- host publication
- Proceedings of the 39th International Symposium on Automation and Robotics in Construction, ISARC 2022
- pages
- 8 pages
- publisher
- International Association for Automation and Robotics in Construction (IAARC)
- conference name
- 39th International Symposium on Automation and Robotics in Construction, ISARC 2022
- conference location
- Bogota, Colombia
- conference dates
- 2022-07-13 - 2022-07-15
- external identifiers
-
- scopus:85137105274
- ISBN
- 9789526952420
- language
- English
- LU publication?
- yes
- id
- c360b7a9-0229-4bf0-a476-269321702015
- date added to LUP
- 2022-11-09 12:56:34
- date last changed
- 2023-11-21 07:10:39
@inproceedings{c360b7a9-0229-4bf0-a476-269321702015,
abstract = {{<p>This paper discusses challenges, experiences and lessons learned so far while transforming a masonry build system based mostly on manual labour into a robot automated build system. Our motivation for selection of this masonry process is to try out how robot automation could impact the architects in their design work by providing a tool to directly manipulate wall expression down to individual brick level. Such manipulation is often much too costly for manual labour today. Moreover, masonry is a challenging application to automate. Understanding the manual processes involved and transforming them into automation equivalents faces several challenges; among them handling and distribution of the different materials involved, selection of tooling, sensing for handling of variation and digital tooling for the programming of the process. A novel parallel-kinematic manipulator (PKM) with computerized numerical control (CNC) is used as target for experiments, because the performance properties in stiffness, workspace and accuracy will allow us to extend work into further construction processes involving heavy and dirty manual labour.</p>}},
author = {{Klöckner, M. and Haage, M. and Eriksson, H. and Malm, H. and Nilsson, K. and Robertsson, A. and Andersson, R.}},
booktitle = {{Proceedings of the 39th International Symposium on Automation and Robotics in Construction, ISARC 2022}},
isbn = {{9789526952420}},
keywords = {{Concrete build system; Construction robotics; Masonry; Parallel-kinematic manipulator}},
language = {{eng}},
pages = {{25--32}},
publisher = {{International Association for Automation and Robotics in Construction (IAARC)}},
title = {{Insights into automation of construction process using parallel-kinematic manipulators}},
year = {{2022}},
}