Automatic Brick Masonry System and Its Application in On-site Construction

摘要

Although research on robotic brickwork assembly systems has long focused on the automatic assembly of bricks, most studies are conducted in the laboratory with refined environmental and material conditions. This paper presents the development and application of a novel robotic masonry system that directly confronts the challenges and constraints of on-site construction in a generic site in rural China, including low-quality bricks, thick mortar connection, and critical temperatures. The construction process includes site surveys, foundation construction, wall masonry, landscape construction, and ground paving. During the process, the robot's arms are used for making formworks for the foundation and creating a pipeline for brick masonry, including printing mortar and brick tiling. A novel duel function end effector is developed to include the accurate printing of thick mortar, and the design is developed in consideration of the site condition and construction process