Study on automation of rammer based on a hopping robot

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K19892
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 61050:Intelligent robotics-related
• Research Institution: The University of Tokyo
• Principal Investigator: Yajima Ryosuke 東京大学, 大学院工学系研究科(工学部), 特任助教 (10869598)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 建設ロボット / ロボット / 建設機械 / 締固め / 制御

Outline of Final Research Achievements

In the construction industry, robotization and automation of construction machinery are required to solve labor shortages, improve the working environment, and increase productivity. In this study, we aimed to robotize a rammer, a small ground compaction machine, by retrofitting a control system to it. We developed a 1/4 size model rammer, installed control devices on it, and conducted experiments. It was found that the direction of the rammer's movement could be changed by rotating a reaction wheel attached to the top of the rammer during its operation. The results indicate the possibility of robotization of the rammer.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

ランマーは，1 本の脚を持ったような構造をしており，50～80 kg 程度の本体を振動させ，落下時の衝撃によって締固めを行う．作業者は，これを不安定な地面の上で手で支えながら，目的の方向に移動させる必要があり，重労働であると言え，さらに，ランマーが突然跳ね上がり，作業者の足を叩いてしまうといった事故も起こり得る．本研究の成果は，ランマーのロボット化あるいは遠隔操作化につながり，建設現場の安全性や労働環境を改善する上で意義があると考えている．