Development of a New Steel Erection System - WASCOR Research Project Report (Part 3)

This paper introduces a new erection system of steel beams and columns by applying robots for building construction. This system is composed of crane, positioning, adjusting, welding, climbing scaffold robot and so forth. Features of this system are shown by the following items. a) Robots for positioning, adjusting and welding operations are mounted on a platform. b) The platform of the climbing scaffold robot moves vertical and horizontal directions for synchronizing erection process. c) By applying the above mentioned method, scaffolds are removed from the erection work. d) Positioning and adjusting of the heavy structural members are done by automatic cooperative motion of the crane, positioning robot and adjusting robot. e) The erection operation is almost automated by applying this system. On the process of this robotized erection system design, we developed the following technological supporting systems. a) A three dimensional computer graphic simulation system for studying dynamic behavior of the robotized erection system. b) A small scale model simulator for the cooperative motion feasibility study of the crane robot and climbing scaffold robot.