3D Simulator of Modular Building Assembly by Automated Cranes

  1. Diez, R. 1
  2. Padrón, V. M. 1
  3. Abderrahim, M. 1
  4. Balaguer, C. 1
  1. 1 University Carlos III of Madrid, Department of System Engineering and Automation
Actes:
Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

ISSN: 2413-5844

ISBN: 978-90-6814-574-8

Any de publicació: 2003

Pàgines: 363-368

Tipus: Aportació congrés

DOI: 10.22260/ISARC2003/0059 GOOGLE SCHOLAR lock_openAccés obert editor

Resum

This paper presents a new construction method based of modular buildings. In this new method,the buildings are to be assembled from their modules using automatic means such as robots or/and automatedcranes. A Computer Integrated Construction (CIC) architecture has been proposed to achieve the modularconstruction covering all aspects from the design until the assembly on site. The system is modular: design,planning and simulation tools are integrated in a graphical user interface. The 3D building design is performedby special tools developed for this purpose. Then planning tools calculate automatically the modules assemblysequence and the path to place the modules by the crane. These trajectories are animated with the developedsimulation tools to ensure secure paths and to correct the erroneous ones. Finally, an automatic gantry cranedeveloped at the Laboratory is used to test the automatic modules placement.This paper is dedicated to describe the simulation tools. Two crane simulators for a gantry and a tower crane, aspecific programming language and a program editor have been developed. A program contains a list ofinstructions with the trajectories that can be automatically generated by a planning tool or manually by theoperator using the program editor integrated in the simulator. The user can select different velocities to run aprogram and can execute a program instruction by instruction or in continuous mode. A toolbar shows theposition of the grasping platform at each moment and the current instruction in execution. The user can alsomove manually the simulator by a graphical pendant that has buttons to move each joint individually. Thisprogram can be used in the laboratory gantry crane to place the modules to assemble a particular building setup.

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