A multidegree-of-freedom manipulator for curtain-wall installation

Abstract

Recently, the trend in architectural forms has been towards larger and taller buildings. Building materials are, therefore, also becoming larger and heavier. Typical construction machineries are not adequate for handling such materials, and most construction works are still managed by a human operator. Construction processes are, therefore, fraught with a number of problems, including frequent accidents, high construction cost, and heterogeneous construction quality depending on the experience of the workers. Automation has been introduced at various sites to address these construction problems. In this paper, the process of a curtain-wall installation in a skyscraper is analyzed, and the prototype of a construction robot for curtain-wall installation (CRCWI) is proposed. Use of the proposed CRCWI can reduce the need for manpower and the construction period and cost, and can assure safety in the curtain-wall construction site. The performance of the proposed CRCWI was verified with a real application test in a skyscraper construction site. © 2006 Wiley Periodicals, Inc.