Publications / 2003 Proceedings of the 20th ISARC, Eindhoven, Holland

Development of Hybrid Robot for Construction Works with Pneumatic Actuator

Hyeun-Seok Choi, Chang-Soo Han, Kye-young Lee, Sang-heon Lee
Pages 191-196 (2003 Proceedings of the 20th ISARC, Eindhoven, Holland, ISBN 978-90-6814-574-8, ISSN 2413-5844)

This paper presents a construction robot that is a hybrid type robot using pneumatic actuator. The hybrid type robot can be used in a window glass mounting, panel fixing, engine installing by gripper changing and so on. We proposed a mechanism of hybrid type robot for construction works, derived a kinematic modeling and simulated to be convinced of a propriety of its mechanism. The hybrid type robot mechanism has a wide range of workspace and precision and consists of a serial and parallel part. The developed hybrid robot has a large workspace and high strength-to-moving-weight ratio at the same time. The pneumatic actuator has been used in industry site. This is largely due to their inherent ability to provide low-cost, compact, and safe actuation. These abilities are good properties for developing robot for a construction site, such as low cost, the high rate of power/weight, usability, and simple structure. The restricting factors preventing a wider use arise from highly nonlinear dynamic properties such as air compressibility and friction effects, which combine to severely degrade responsibility and positional accuracy. The sliding mode controller is adequate to such as cylinder that is strong nonlinear property.

Keywords: Construction robot, Hybrid robot, Parallel mechanism , Pneumatic Actuator, Sliding control