鐵骨造 工事의 自動化를 위한 로봇 핸드

Abstract

This paper presents a study on the automation of steel frame building. The hooks used with tower crane are passive, and the linking and unlinking operations between hooks and steel objects are done manually. These operations are laborious as well as dangerous. In particular, the unlinking operations which must be accomplished by workers at the tip of steel columns on the top of building are very dangerous. This study describes invention of a mechanism and a control system for safety and user interface. The design of the mechanism and the control algorithm was evaluated in the construction site.