Interior Finishing Building Robot "TAMIR"

The latest development in the evolution of TAMIR- Technion Autonomous Multi purpose Interior Robot is described. The robot performs, at this stage, three types of full scale interior finishing works: a) Wall building b) Plastering / Painting c) Tile setting. The former task was perfected during the last year and it is described in detail in this paper, with regard to (1) Accuracy analysis, 2) Design and performance of the end effector, and 3) Callibration and correction of errors. The present stage is intended to examine the total feasibility of the application in both technological terms (with all peripheral works), and economically, by measurement of robotic vs. Manual performance, pertained to a large position segment with a corner, openings and different edge conditions at its interfaces with adjacent walls, floor and ceiling.