Development of mobile tile cladding robot system

Hannu Lehtinen, Lauri Koskela, Hannu Sainio, Mika Matikainen, Karl-Johan Seren, Taisto Kemppainen

Research output: Contribution to conferenceConference articleScientific

Abstract

An inner construction work robot test system has been designed and evaluated at VTT. The designed, but partially realized, robot system could reach and transfer a pay-load of 10 kg to any inner surface of such a room in any orientation, the maximum height of which is close to the required 3.2 m. The system consists also of a track based vehicle and process tooling for automated cladding of ceramic tiles. The system can be moved on the construction site using its caterpillar track locomotion. It is connected to the stationary control equipment and energy source with a set of cables. Wall cladding with ceramic tiles is the first test application. Suction cup based gripper equipped with three ultrasonic and a six axis Force/Torque sensor is used. Information of these sensors is fused to decrease radically the plus/minus 50 mm inaccuracy of all nominal positions and navigation error.
Original languageEnglish
Pages919-928
Publication statusPublished - 1991
Event8th International Symposim on Automation and Robotics in Construction - Stuttgart, Germany
Duration: 3 Jun 19915 Jun 1991

Conference

Conference8th International Symposim on Automation and Robotics in Construction
CountryGermany
CityStuttgart
Period3/06/915/06/91

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Tile
Robots
Grippers
Control equipment
Sensors
Cables
Navigation
Torque
Ultrasonics

Cite this

Lehtinen, H., Koskela, L., Sainio, H., Matikainen, M., Seren, K-J., & Kemppainen, T. (1991). Development of mobile tile cladding robot system. 919-928. Paper presented at 8th International Symposim on Automation and Robotics in Construction, Stuttgart, Germany.
Lehtinen, Hannu ; Koskela, Lauri ; Sainio, Hannu ; Matikainen, Mika ; Seren, Karl-Johan ; Kemppainen, Taisto. / Development of mobile tile cladding robot system. Paper presented at 8th International Symposim on Automation and Robotics in Construction, Stuttgart, Germany.
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abstract = "An inner construction work robot test system has been designed and evaluated at VTT. The designed, but partially realized, robot system could reach and transfer a pay-load of 10 kg to any inner surface of such a room in any orientation, the maximum height of which is close to the required 3.2 m. The system consists also of a track based vehicle and process tooling for automated cladding of ceramic tiles. The system can be moved on the construction site using its caterpillar track locomotion. It is connected to the stationary control equipment and energy source with a set of cables. Wall cladding with ceramic tiles is the first test application. Suction cup based gripper equipped with three ultrasonic and a six axis Force/Torque sensor is used. Information of these sensors is fused to decrease radically the plus/minus 50 mm inaccuracy of all nominal positions and navigation error.",
author = "Hannu Lehtinen and Lauri Koskela and Hannu Sainio and Mika Matikainen and Karl-Johan Seren and Taisto Kemppainen",
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Lehtinen, H, Koskela, L, Sainio, H, Matikainen, M, Seren, K-J & Kemppainen, T 1991, 'Development of mobile tile cladding robot system' Paper presented at 8th International Symposim on Automation and Robotics in Construction, Stuttgart, Germany, 3/06/91 - 5/06/91, pp. 919-928.

Development of mobile tile cladding robot system. / Lehtinen, Hannu; Koskela, Lauri; Sainio, Hannu; Matikainen, Mika; Seren, Karl-Johan; Kemppainen, Taisto.

1991. 919-928 Paper presented at 8th International Symposim on Automation and Robotics in Construction, Stuttgart, Germany.

Research output: Contribution to conferenceConference articleScientific

TY - CONF

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AU - Lehtinen, Hannu

AU - Koskela, Lauri

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AU - Matikainen, Mika

AU - Seren, Karl-Johan

AU - Kemppainen, Taisto

N1 - Project: YRT85013

PY - 1991

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N2 - An inner construction work robot test system has been designed and evaluated at VTT. The designed, but partially realized, robot system could reach and transfer a pay-load of 10 kg to any inner surface of such a room in any orientation, the maximum height of which is close to the required 3.2 m. The system consists also of a track based vehicle and process tooling for automated cladding of ceramic tiles. The system can be moved on the construction site using its caterpillar track locomotion. It is connected to the stationary control equipment and energy source with a set of cables. Wall cladding with ceramic tiles is the first test application. Suction cup based gripper equipped with three ultrasonic and a six axis Force/Torque sensor is used. Information of these sensors is fused to decrease radically the plus/minus 50 mm inaccuracy of all nominal positions and navigation error.

AB - An inner construction work robot test system has been designed and evaluated at VTT. The designed, but partially realized, robot system could reach and transfer a pay-load of 10 kg to any inner surface of such a room in any orientation, the maximum height of which is close to the required 3.2 m. The system consists also of a track based vehicle and process tooling for automated cladding of ceramic tiles. The system can be moved on the construction site using its caterpillar track locomotion. It is connected to the stationary control equipment and energy source with a set of cables. Wall cladding with ceramic tiles is the first test application. Suction cup based gripper equipped with three ultrasonic and a six axis Force/Torque sensor is used. Information of these sensors is fused to decrease radically the plus/minus 50 mm inaccuracy of all nominal positions and navigation error.

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Lehtinen H, Koskela L, Sainio H, Matikainen M, Seren K-J, Kemppainen T. Development of mobile tile cladding robot system. 1991. Paper presented at 8th International Symposim on Automation and Robotics in Construction, Stuttgart, Germany.