Proposal of Installation Method of Heavy Duty Glass Using Intuitive Manipulation Device

摘要

Proposal of Installation Method of Heavy Duty Glass Using Intuitive Manipulation Device Myeong Su Gil, Min Sung Kang, Seung Hoon Lee, Daegeon Kim, Bok-kue Kim, Chang Soo Han Pages 82-88 (2011 Proceedings of the 28th ISARC, Seoul, Korea, ISBN 978-89-954572-4-5, ISSN 2413-5844) Abstract: Glass is widely used as finishing material in order to allow good appearance from building inside and outside. And the trend of construction material and component is toward larger and heavier. So, safely to install this heavy duty and fragile glass, we proposed new methodology for glass installation. First we inquired all kind of glass installation robot widely. And we classified these robots, analyzed installation methods and compared to construction worker. Second we proposed new methodology which had similar to installation method of construction worker. Third we made an experiment system for performance evaluation. Lastly we confirmed that the glass installation work of proposed method is more efficiency than existing method through work time and force/torque interference. Also we confirmed that work time of installation work using proposed method is similar to that of construction worker. This method is to be the system combined with operator’s control ability and robot’s power. And, through this method, it is expected that glass installation work is to be more efficiency and safety. Keywords: Human-Robot Cooperation, Construction Robot, Intuitive Manipulation Device, Heavy Duty Glass, Virtual Axis DOI: https://doi.org/10.22260/ISARC2011/0012 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley