The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of Manipulator End Effectors for Pier Column Construction

교각 기둥시공을 위한 매니퓰레이터 엔드 이펙터 설계

  • Received : 2021.04.27
  • Accepted : 2021.06.09
  • Published : 2021.08.31
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Abstract

There is a risk of serious injury to workers who work at height in pier construction process. By using auto climbing formwork system that does not need to dismantle and reinstall formworks, it is possible to improve work efficiency and safety of workers. However, auto climbing formwork system still requires workers to work on a pier for rebar connection works and so on. In order to eliminate works by workers on the pier, robot manipulators with special end effectors are proposed. Through analysis of works on the pier, three specialized end effectors which are a gripper, a rebar coupler press, and a concrete vibrator, are suggested. Also, new pier construction scenario by the suggested system is confirmed using 3d modeling. It is expected that the proposed system and method enables pier construction without workers on piers. It will increase safety and efficiency of pier construction.

Keywords

Acknowledgement

This research was conducted with the support of the "National R&D Project for Smart Construction Technology (No.20SMIP-A158708-01)" funded by the Korea Agency for Infrastructure Technology Advancement under the Ministry of Land, Infrastructure and Transport, and managed by the Korea Expressway Corporation

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