Mechanism and analysis of a robotic bolting device for steel beam assembly

Baeksuk Chu, Kyungmo Jung, Kang Ho Ko, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Tasks for steel beam assembly in construction field are usually performed by human labors that are exposed to various dangers. This research is about developing a robotic bolting device which assembles TS(Torque-Shear)-type bolt and nut used for steel beam assembly and prevents workers from operating in risky construction environments. The suggested robotic bolting device consists of a bolting end-effector, which actually conducts bolting tasks, and a gantry-type robotic manipulator, which places the bolting end-effector to each bolting position. The bolting process performed by the bolting end-effector, which furnishes two different bolting tools, has two assembly steps to increase the bolting productivity. In the first step, the first-assembly bolting tool assembles the bolt and nut with high speed but low torque, while, in the second step, the second-assembly bolting tool finishes the tightening task with high torque but low speed. Moreover, nut and washer feeder based on robotic manipulation are developed for automatic supply. The two bolting tools equip compliance mechanisms respectively for compensating an angular misalignment between the bolting tool axis and bolt axis which interferes the bolting tool completely grasps the bolt.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages2351-2356
Number of pages6
Publication statusPublished - 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Keywords

  • Bolting end-effector
  • Compliance mechanism
  • Construction robot
  • Robotic bolting device
  • TS-type bolt

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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