The QUENDA-BOT: Autonomous Robot for Screw-Fixing Installation in Timber Building Construction

摘要

Autonomous robots are practical and innovative solutions to reducing the risk of fatigue and back injuries during mass engineered timber constructions. Screw installation is a common repetitive and strenuous activity performed by humans at construction sites. This article presents a novel robotic system for screw fixing installation. A range of technologies were implemented including those for mapping, localisation, sensing, planning and force-torque control of a robotic manipulator attached to a mobile base. Also developed was custom hardware for the screw driving operation. Extensive tests of the robotic system were conducted in lab and field environments. The results demonstrate the suitability of this robot for autonomous screw fixing installation.