Application of Large-Scale Manipulators in the Construction Environment
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55 Large-Scale Manipulators (LSMs) are gaining attention in construction automation research because of their long reach and positioning capabilities. A case study based on the Model Plant data compiled by the Construction Industry Institute indicates that LSMs have very high potential in industrial construction. They can be used for pipe, cable tray and structural steel erection as well as elevated concrete placement, painting and sandblasting, which on average constitute 33%% of the total project work-hours. Use of LSMs can reduce the amount of non-value added tasks, increase productivity, shorten construction time, and improve workers' safety. A task selection framework which uses a decision matrix to evaluate the uses of LSMs is developed. The same framework could also he used for evaluating the usefulness of other types of automated equipment or machinery in various construction projects.
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