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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