Full Scale Trials of a Large General Purpose Construction Manipulator with Precise Motion Capabilities

Large reach, large capacity ,versatile and precise construction manipulators wth computer control capability have recently been proposed as potentially very useful construction industry tools. But none has yet been economically realized. This paper describes the development of a such a machine .the manipulator described has a lift capacity of more than 100Kg coupled with a reach of more than 10metres.the machine has now reached its final mechanical engineering testing stage. The equipment has been designed for general construction use under all weather conditions and is capable of mobbing large and heavy loads to a high accuracy with effectively zero backlash. The unit is intended for general heavy materials handling operations on building and construction engineering sites but has special applications in the fields of reinforcement placement, formwork placement and stripping, light gauge structural steelwork handling and building cladding operations. The paper describes the physical testing of the unit in terms of movement envelopes, static and dynamic load handling performance, accuracy of load control and positioning as well as computer controllability factors. Trial applications of the machine to selected building and civil engineering tasks are also reported. Comments on the potential economic application of this form of machine are also given.