Hsieh, T-Y (1993) Functional requirements for large-scale manipulators in industrial construction. PhD thesis, University of Texas at Austin, USA.
Abstract
This dissertation deals with the practical issues of using large scale manipulators (LSMs) and explores the economy of applying this technology in the construction environment. LSMs are of major importance in construction automation. The most promising capability of LSMs lies in independently and quickly positioning and orienting special tooling, inspection devices, concrete pump hoses, and construction materials in large 3-D spaces. The principle motivation for this research is to develop a new, multi-functional perspective towards the development of LSM technology which addresses the current and future needs of LSMs for the construction industry. Three issues are addressed in this dissertation, which are (1) the identification of the potential applications of LSMs in construction, (2) the evaluation of the performance of LSMs in construction applications, and (3) the evaluation of the economic feasibility of LSMs in construction with emphasis on the impact of multi-functionality. To address the first issue, a task selection framework for LSMs is developed and the Model Plant data compiled by the Construction Industry Institute is incorporated as the source of project data. To address the second issue, a performance evaluation model for LSMs is developed. With this evaluation model, the Pipe Manipulator owned by the University of Texas is evaluated with respect to several construction tasks which exhibit the highest potential for LSM applications. To address the third issue, a series of break-even economic analyses are performed to compare the economic feasibility between a single-application LSM and a multi-functional LSM. The research results indicate that LSMs show high potential in piping erection, concrete placement, structural steel erection, painting (including sandblasting) and miscellaneous material handling in industrial construction. Additionally, among the high potential areas, LSMs have the potential to surpass the performance of the conventional construction methods examined in terms of the total cycle time, total work-hours and the required crew size by a considerable margin, but require advanced control and sensing capabilities and a proper end effector attachment. It is also concluded that multi-functionality is a highly desirable element to improve the economic feasibility of LSMs for construction applications.
| Item Type: | Thesis (Doctoral) |
|---|---|
| Thesis advisor: | Haas, C T |
| Uncontrolled Keywords: | motivation; automation; construction method; material handling; performance evaluation |
| Index terms: | placement, functionality, project data, construction method, motivation, material handling, economic analysis, performance evaluation, inspection, Construction Industry Institute, construction material, construction industry, industrial construction, automation, dissertation |
| Subjects: | automation and robotics, performance measurement, management, industry analysis, quality assurance, building construction, research organizations, research dissemination and communication, data collection methods, product delivery, psychology, design features, design analysis, building materials |
| Topics: | Engineering Principles, Research Practice, Supply Chain Management, Human Resources, Quality Management, Digital Applications, Design Practice, Site Management |
| Descriptive scope: | 5 PCTEA |
N.B. Descriptive scope is a count of how many of the five facets of empirical research are indicated by the words used in title, abstract and keywords. It is not intended as a judgement on the research; merely a count of the kind of word we would expect to indicate Phenomenon, Concepts, Theoretical framing, Empirical techniques, Analytical techniques. If all five are present, then a code of “5 PCTEA” will indicate this. If you feel the coding for this record is questionable, we welcome discussion around the terms we matched or the way we categorized them. The facet you would expect may not be coded, or a facet may be coded inappropriately. This can also bear on a larger question, of which facets should be treated as defining in construction management research. Please get in touch, and we will look at it. More details here