An Automated Construction Erection System

A series of new beam-to-column connections known as ATLSS connections are currently under development with an emphasis on cost-efficient fabrication as well as geometric configurations which provide an automatic self-guided erection feature to greatly facilitate initial placement. This feature will minimize human assistance during construction and will result in quicker, less expensive erection procedures where workers are less susceptible to injury or fatalities.

The ATLSS connections also possess the capability of being erected by automated construction techniques. This paper presents an overview and some details of ACES, an Automated Crane Erection System which allows precise movement in six directions at the construction site. ACES consists of: 1) a moving platform base, cable-driven, Stewart Platform used in locating, acquiring, moving, placing and securing structural and non-structural elements throughout the construction site; 2) construction elements incorporating ATLSS connections; 3) motion and sensor control software for movement within cluttered environments subject to wind gusts; and 4) the design and as built database. The technologies developed within this research effort are transferable to other potential applications such as warehousing, ship building and maritime applications, decommissioning of nuclear facilities, mining, dredging and excavation.