The Design and Development of an Automatic Construction Crane

  1. Abderrahim, M. 1
  2. Giménez, A. 1
  3. Nombela, A. 1
  4. Garrido, S. 1
  5. Diez, R. 1
  6. Padrón, V.M. 1
  7. Balaguer, V. 1
  1. 1 Universidad Carlos III de Madrid
    info

    Universidad Carlos III de Madrid

    Madrid, España

    ROR https://ror.org/03ths8210

Konferenzberichte:
International Symposium on Automation and Robotics in Construction (18th ISARC)

Verlag: The International Association for Automation and Robotics in Construction (I.A.A.R.C.)

ISSN: 2413-5844

ISBN: 9788386040117

Datum der Publikation: 2001

Seiten: 1-6

Kongress: 18th ISARC, Krakow, Poland

Art: Konferenz-Beitrag

DOI: 10.22260/ISARC2001/0026 GOOGLE SCHOLAR lock_openOpen Access editor

Zusammenfassung

This paper describes the design and development of an automatic crane for use in the assembly of modular buildings elements in the construction site. The automatic system was developed using a commercial crane, which was modified by adding the adequate sensors, servomotors and an advanced control system. The new crane system is meant to work in an automatic or semi-automatic manner to achieve the assembly of modules following the sequence established during the design process. The assembly path shall be readjusted to compensate for the deviations between the planned and actual loading positions of the modules to be assembled. A special handling platform was designed to allow the grasping of the modules via electromagnets and female conical locators/connectors. The male conical connectors are part of building modules themselves, and are also used to ensure the connection between modules. The cranes system is controlled via computer using a multi-axes control board implementing adequate algorithms to ensure a smooth movement and prevent the undesired swinging effects. The system is operated via a Man Machine Interface (MMI) installed in the control computer, which make use of new features as well as via the traditional push button pendant used in commercial cranes. Although the system is currently functional, new features such as the security system and the image processing modules are still under Development.Keywords: crane automation, construction automation, modular building

Bibliographische Referenzen

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  • L.F. Peñín; C. Balaguer; J.M. Pastor; F.J. Rodríguez; A. Barrientos; R. Aracil; “Robotized Spraying of Prefabricated Panels”, IEEE Robotics & Automation Magazine, Sept. 1998.
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