Ceiling beam screw removal using a robotic manipulator

  • Authors:

  • Geoffrey Biggs;Tetsuo Kotoku;Tamio Tanikawa

  • Affiliations:

  • Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

Within the larger task of renovating an office building, there are many repetitive tasks that are suitable for automation. With the decreasing availabtiity of skilled labour and increasing emphasis on reuse of materials, there is on opportunity to Introduce robots that can replace labour for the simpler tasks. This paper describes a robot to perform the task of removing tile screws from suspended ceiling, beams. The robot uses a specially-designed tool mounted at the end of on arm. This tool removes screws by turning them between two rollers. The tool is moved down the beam In a single motion, allowing it to remove many screws fast with little operator interaction. RT-Middleware is used as the implementation architecture, which facilitated development by simplifying testing of Individual components.