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http://dx.doi.org/10.7736/KSPE.2013.30.4.421

Development of Horizontal Locomotion Robot using Rail Mechanism for H-beam Structure  

Kim, Jong Heon (Department of Mechanical Engineering, Korea Univ.)
Jeon, Minseok (Department of Mechanical Engineering, Korea Univ.)
Jeon, Kyungtae (Department of Mechanical Engineering, Korea Univ.)
Lee, Sang Hoon (Department of Automobile Engineering, Doowon Univ.)
Hong, Daehie (Department of Mechanical Engineering, Korea Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.4, 2013 , pp. 421-426 More about this Journal
Abstract
Nowadays in building construction field, workers become aged and avoid dirty, difficult, and dangerous work. Above all, a person who is in charge of beam assembling work in high and narrow space just relies on safety belt. So these workers should be highly trained. This paper deals with a new locomotion robot that can take this in charge, which will be able to provide less labor costs, less time to build a building and safer environments for workers. The geometric features of steel structure in building construction were carefully analyzed and developed a locomotion mechanism optimized to it. The robot was designed to be rugged, strong, and fast rather than having excessive mobility. Feasibility of the developed robot was verified through experiments.
Keywords
Locomotion Robot; Steel Column Avoidance; H-beam Structure; Construction Automation; Rail Mechanism;
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