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In an earlier publication (Leyh, 1993) the “Experiences with the Construction of a Building Assembly Robot” have been dealt with. The application of that robot system for the automatic assembly of commercial cavity blocks is the subject of a subsequent report which consists of two parts: in the first, this paper, we primarily deal with the assembly methods, in the second we deal with their realization. What is characteristic of cavity blocks is the fact that they are at first assembled dry, without cementing material, and the masonry is later filled with mortar. As to their weight and dimension, the cavity blocks used by the company GISOTON are adjusted to the ergonomics of a mason. The entirely different characteristics and abilities of assembly robots are not taken into consideration. However, their dimensional tolerance is relatively small (0.5 mm). Furthermore as cavity bricks, they have conic and oval recesses. Both features are strongly favourable for automation. This paper will highlight specific problems during automized construction assembly with commercial standard assembly elements, and help to solve them. |
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