jaue2023039: Research on the Assembly of Wooden Stairs Using an Arm-type Industrial Robots

Abstract

Currently, In Japan, where the birthrate is declining and the population is aging, robots are now expected to become an important labor force. 24-hour operation, more accurate work than humans, lower labor costs, shorter construction periods and associated cost reductions, and reduced risk of injury in dangerous work are some of the many advantages of replacing workers with machines. On the other hand, the amount of forest accumulation in Japan is increasing remarkably. In particular, the accumulation of planted forests has increased significantly, and a solution to this problem is urgently needed. To solve this problem, we developed a construction method to assemble a straight staircase composed of unit members using cedar wood and a robot. Based on this construction method, virtual simulations and full-scale model experiments were conducted. The construction simulation was performed using the 3D software "Rhinoceros" and the plug-in software "Grasshopper," and the articulated arm robot was created using the software "KUKA|prc. Experiments were conducted using cedar wood of two different widths (30 mm and 45 mm square) to construct a model suitable for this construction method. The feasibility, accuracy, and strength of the wooden staircase fabrication by the robot were evaluated by comparing the simulation with a full-scale model experiment and improving the simulation if any problems were found. In addition, load-bearing experiments were conducted to investigate the load capacity of the assembled staircase. The fixed base was made of cedar wood, and one 10 kg weight was placed on it repeatedly until the staircase collapsed.
The results showed the possibility of using industrial robots in the construction field.