Publications / 1988 Proceedings of the 5th ISARC, Tokyo, Japan

A Robotized Wall Erection System with Solid Components

Yuichira Kodama, Yutaka Yamazaki, Hirota Kato, Yosuke Iguchi, Hideo Naoi
Pages 441-448 (1988 Proceedings of the 5th ISARC, Tokyo, Japan, ISSN 2413-5844)

One idea for the step up of robotization in building construction is to change the conventional construction works adaptable to robotics. In this paper, a structural system for the wall erection named SMAS (Solid Material Assembly System) is proposed and the developed hardware systems are mentioned. SMAS is a kind of reinforced masonry construction system. A standard building component of this system, 30cmx30cmx18cm in size and 20kg in weight, is made of pre-cast concrete and includes cross-shaped steel bar inside of each component for the reinforcement of structural wall. Components are positioned automatically by the robot one by one without arrangements of conventional bonding. Following the positioning of each component, steel bars are connected, to those of adjacent components also by the robot. The joint type of -steel bar for vertical direction is mechanical, and that for lateral direction is overlapping. Concrete is grouted from the top of the wall which is erected one story high (about 3m). The newly developed operating hand is installed to the mother robot, 6-articulation-type robot which was developed for wide variety of applications in factory use and a series of experiments for wall erection were carried out.

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