Full-scale building with interior finishing robot

Abstract

This paper presents the results of an original research and development project aimed at a full-scale feasibility study, of robotized performance in varied interior finishing construction tasks. “TAMIR”—Technion Autonomous Multipurpose Interior Robot—has been developed to this end by the adaption of a mobile carriage, working tools, material feeding systems and control algorithms to a universal articulated robotic arm, with a working radius of approximately 1.5 meters. The paper focuses on one complex application—the building of interior walls or partitions—that involves the creation of a new environment, and two simpler applications—spraying and tile setting—that involves processing of existing surfaces. It is intended to acquaint potential users—mainly construction engineers—with the strengths and limitations of the emerging technology of robotics in construction. In addition, it a long term, systematic R&D process, for the benefit of researchers and developers in this field. Conceptual matters, reliability assurance, accuray analysis, calibration problems and future trends are discussed in this paper.