Advances in the Development of a Custom End Effector for Construction Automation

Abstract

Beyond increasing productivity, improving quality, performing hazardous tasks and reducing costs, robotics also offers sustainable solutions by optimizing the use of materials and improving energy efficiency. In addition, modern robots are highly adaptable platforms that result in more intelligent systems capable of performing complex tasks. The following article presents the advances in the development of an end effector that promises to be a more economical and efficient option, which is used together with a single robotic arm to allow for the gripping, positioning and fixing of construction panels. The focus of this research effort has been the programming of a digital twin in the Robot Operating System (ROS) framework which allows to analyze the kinematics of the robot and the end effector working together; in addition, the redesign of the physical connectors between the robot and the end effector is also discussed. It is known that nowadays digitization, simulation and the use of digital twins in robotic systems are essential to maximize efficiency and accuracy in the modern construction industry; besides, they have become competitive factors that give added value to construction processes.