Ceiling Beam Screw Removal Using a Robotic Manipulator

The decreasing availability of skilled labor has led to the desire for supplementing workers with robot assistants that can reduce their workload. The Japanese government has undertaken a project to reduce the time and effort required to demolish a building interior by developing robot assistants th...

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Published in:Advanced robotics 2011-01, Vol.25 (11-12), p.1451-1472
Main Authors: Biggs, Geoffrey, Kotoku, Tetsuo, Tanikawa, Tamio
Format: Article
Language:English
Subjects:
Automation
Beams (structural)
Ceilings
CONSTRUCTION ROBOTICS
DEMOLITION ROBOTICS
ROBOT CONTROL
Robotics
Robots
RT-MIDDLEWARE
Screws
SOFTWARE ARCHITECTURE
Tasks
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container_issue 11-12
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container_title Advanced robotics
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creator Biggs, Geoffrey
Kotoku, Tetsuo
Tanikawa, Tamio
description The decreasing availability of skilled labor has led to the desire for supplementing workers with robot assistants that can reduce their workload. The Japanese government has undertaken a project to reduce the time and effort required to demolish a building interior by developing robot assistants that can perform the more physically demanding tasks. These include a robot to assist in removing ceiling-mounted equipment and a robot that uses a novel water-jet approach to cut down suspended ceiling tiles. Within this project, a missing component is the removal of the screws from the suspended ceiling beams. This is a physically demanding task, but also repetitive and so suitable for automation. This paper describes a robot to perform the task of removing the screws from the suspended ceiling beams. The robot uses a specially designed tool mounted at the end of an arm. This tool removes screws by turning them between two rollers. The tool is moved down the beam in a single motion, allowing it to remove many screws fast with little operator interaction. RT-Middleware is used as the implementation architecture.
doi_str_mv 10.1163/016918611X579484
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source Taylor and Francis Science and Technology Collection
subjects Automation
Beams (structural)
Ceilings
CONSTRUCTION ROBOTICS
DEMOLITION ROBOTICS
ROBOT CONTROL
Robotics
Robots
RT-MIDDLEWARE
Screws
SOFTWARE ARCHITECTURE
Tasks
title Ceiling Beam Screw Removal Using a Robotic Manipulator
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