- CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality
- A cura di Pietro Capone, Vito Getuli, Farzad Pour Rahimian, Nashwan Dawood, Alessandro Bruttini, Tommaso Sorbi
A Robotic Method to Insert Batt Insulation into Light-Frame Wood Wall for Panel Prefabrications
- Xiao Han
- Cheng-Hsuan Yang
- Yuxiang Chen
- Alejandra Hernandez Sanchez
- © 2023 Author(s) |
- CC BY-NC 4.0
- DOI: 10.36253/979-12-215-0289-3.58
Currently, industrial robot arms are trending in prefabricated building construction; however, a notable gap exists in established automated processes and related research specifically for the insertion of batt thermal insulation. The current method for accomplishing this task relies on manual insertion, which is labour-intensive for the workers and poses long-term health and safety concerns. This research presents an ongoing research project aimed at developing a feasible robotic process for the automated insertion of batt thermal insulation into prefabricated light-frame wood wall frames. This research focuses on the utilization of a single 6-degree-of-freedom robot arm for the insertion process, complimented by the design of a custom-built end-effector. The proposed robotic insertion process, named GLITPP, comprises of six major steps: (1) Grasp, (2) Lift, (3) Insert, (4) Tilt, (5) Push, and (6) Press. The GLITPP insertion process, along with the custom-built end-effector effectively mitigates the influence of the insulation’s nonlinear mechanical properties, while also taking collision avoidance into consideration. This ensures a tight-fitting insulation within the frame cavity, without visible gaps and deficiencies. The necessary physical operating parameters for the insertion process, such as angles, offset, and force requirements, are identified to ensure the precision, efficiency, and repeatability of insertion. A prototype of the designed end-effector is used to demonstrate and validate the robotic method, achieved a high success rate of 93.3%. The development of this research will further advance the complete automation of light-frame wood wall panel prefabrication, offering the industry a wider range of options for selecting thermal insulation for their processes
- Keywords:
- Robotic Building Prefabrication; Robotic Insertion; Light-frame Wood Construction; Robotic End-effector; Automation in Construction; Thermal Insulation,
University of Alberta, Canada
University of Alberta, Canada - ORCID: 0000-0001-7907-6590
University of Alberta, Canada - ORCID: 0000-0003-4651-5029
Institute of Advanced Materials for the Sustainable Manufacturing Tecnológico de Monterrey,, Mexico
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Informazioni sul capitolo
Titolo del capitolo
A Robotic Method to Insert Batt Insulation into Light-Frame Wood Wall for Panel Prefabrications
Autori
Xiao Han, Cheng-Hsuan Yang, Yuxiang Chen, Alejandra Hernandez Sanchez
DOI
10.36253/979-12-215-0289-3.58
Opera sottoposta a peer review
Anno di pubblicazione
2023
Copyright
© 2023 Author(s)
Licenza d'uso
Licenza dei metadati
Informazioni bibliografiche
Titolo del libro
CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality
Sottotitolo del libro
Managing the Digital Transformation of Construction Industry
Curatori
Pietro Capone, Vito Getuli, Farzad Pour Rahimian, Nashwan Dawood, Alessandro Bruttini, Tommaso Sorbi
Opera sottoposta a peer review
Anno di pubblicazione
2023
Copyright
© 2023 Author(s)
Licenza d'uso
Licenza dei metadati
Editore
Firenze University Press
DOI
10.36253/979-12-215-0289-3
eISBN (pdf)
979-12-215-0289-3
eISBN (xml)
979-12-215-0257-2
Collana
Proceedings e report
ISSN della collana
2704-601X
e-ISSN della collana
2704-5846