Development of hybrid robot for construction works with pneumatic actuator

Abstract

This paper presents a construction robot that is a hybrid-type robot using pneumatic actuator and servo motor. The hybrid-type robot can be used in a window glass mounting or panel fixing. The hybrid-type robot mechanism has a wide range of workspace and precision, and it consists of a serial and parallel part. The pneumatic actuator has been widely used in industry site because of its low cost, compact, high rate of power/weight, and reliability. The restricting factors preventing the use of pneumatic actuators for accurate control arise from highly nonlinear dynamic properties such as air compressibility and friction effects, which combine to severely decrease time responsibility and positional accuracy. The sliding mode controller is adequate to such as cylinder that is strong nonlinear property. The developed construction robot with pneumatic actuator using the sliding mode controller used in the work of attaching the ceramic tile. (c) 2004 Elsevier B.V. All rights reserved.