2016In this year, we focused on developing Robotic Assembly System to replace the high place workers. Structural erections are extremely critical yet risk in all construction projects. Current erection tasks require multiple workers working long hours in high places. Despite the risky environment, the works are actually very simple: temporally secure the structural elements. The system we developed includes new structural connector, versatile and flexible rigging mechanism , precise crane control.
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New Structural Connector |
Based on the major design concept of feasible implementation and manufacture, we designed the horizontal structural connector of horizontal components. We consulted experts for the design workability, 3D-printed out the connector for workability testing, and analyzed the strength of the designed component using finite element method.
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「水平型結構」，依照簡單施工、方便製造的設計概念，已完成設計出水平型結構接頭，並以 3D 列印模型模擬組裝、有限元素法測試強度 與專家諮詢方式確認接頭可行性。
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Versatile and Flexible Rigging Mechanism & Precise Crane Control |
Construction method development has been divided into erection mechanism and crane control. To validate the construction method, crane operation simulation became the primary research goal. The crane operation simulation consists of small-scale simulation using a robot arm and a full-scale simulation using 3D modeling software with physics engine. Therefore, the construction method will be developed more efficiently and effectively.
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吊車吊裝模擬為主要開發項目，模擬主要分實體與虛擬吊車兩項目建置，實體已完成使用機械手臂與其模擬軟體，開發機械手臂模擬施工時，使用之吊車運動，另外，也完成使用虛擬物理引擎，模擬整個吊車吊裝施工過程，透過此兩項吊車吊裝模擬環境建置，能更容易開發結構自主吊裝施工法。
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