철골 구조의 볼트 체결용 이동 매니퓰레이터 개발

The automation for constructing a building has been extensively studied. Various robots for construction were developed. However, the bolting process is still worked manually. To tighten bolts, human workers climb the vertical steel beam on the top of the high-rise steel structure in many construction fields. This works is extremely dangerous. Therefore, a new bolt tightening mobile manipulator is developed to automate bolting process in this paper. The bolt tightening mobile manipulator composes of four parts: a carrier, a vertical moving part, a bolting position control part and a bolting tool part. We assume that the developed mobile manipulator is attached to the boom which moves around the core of a building. The degree of freedom of the developed manipulator is five to access a bolting position of construction of steel. The carrier moves horizontally under the boom. The vertical moving parts is scissor type. The bolting position control part has 3 degree of freedom - one rotation and two linear motion.