Automatic assembly system for a large-scale modular structure - Hardware design of module and assembler robot

Yuzuru Terada, Satoshi Murata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

44 Citations (Scopus)

Abstract

The main difficulty of construction automation is the variety of materials. To cope with this problem, we propose a concept of automated assembly system for a modular structure. This system uses passive building blocks called "structure modules" and an assembler robot that is specialized to handle them. This "modular" concept drastically simplifies structural construction and allows automation. This paper describes the hardware design of the structure module and the assembler robots. Especially, die connection mechanism, the essential element of the system, is explained in detail We built a prototype model based on the design to evaluate its automatic construction capability. Some experimental results illustrate the feasibility of the proposed method.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages2349-2355
Number of pages7
Publication statusPublished - 2004 Dec 1
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume3

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

Keywords

  • Assembly
  • Connector
  • Modular robot

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Terada, Y., & Murata, S. (2004). Automatic assembly system for a large-scale modular structure - Hardware design of module and assembler robot. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2349-2355). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 3).