| Περίληψη: | Currently, industrial robot arms are trending in prefabricated building construction; however, a notable gap exists in established automated processes and related research specifically for the insertion of batt thermal insulation. The current method for accomplishing this task relies on manual insertion, which is labour-intensive for the workers and poses long-term health and safety concerns. This research presents an ongoing research project aimed at developing a feasible robotic process for the automated insertion of batt thermal insulation into prefabricated light-frame wood wall frames. This research focuses on the utilization of a single 6-degree-of-freedom robot arm for the insertion process, complimented by the design of a custom-built end-effector. The proposed robotic insertion process, named GLITPP, comprises of six major steps: (1) Grasp, (2) Lift, (3) Insert, (4) Tilt, (5) Push, and (6) Press. The GLITPP insertion process, along with the custom-built end-effector effectively mitigates the influence of the insulation’s nonlinear mechanical properties, while also taking collision avoidance into consideration. This ensures a tight-fitting insulation within the frame cavity, without visible gaps and deficiencies. The necessary physical operating parameters for the insertion process, such as angles, offset, and force requirements, are identified to ensure the precision, efficiency, and repeatability of insertion. A prototype of the designed end-effector is used to demonstrate and validate the robotic method, achieved a high success rate of 93.3%. The development of this research will further advance the complete automation of light-frame wood wall panel prefabrication, offering the industry a wider range of options for selecting thermal insulation for their processes
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