Construction manipulators of steel towers for the transmission of electricity

In this paper, the semiautomatic construction manipulators system for steel towers for the transmission of electricity is proposed. The piling up/expansion and contraction method is selected as the best construction method out of ten methods considered for the semiautomatic system. The first necessary function for construction manipulators is addressed and the suitable mechanism for it is considered as semiautomatic system. The remote operation method is used for operating a climbing crane and manipulators. This system has five monitors which display scenes sent from cameras on the crane and the manipulators and animation displays which are useful for operators to monitor working conditions from any direction. The climbing crane controls and construction manipulators require many kinds of functions. Anti sway control is necessary and very important for crane controls. Force control and tightening control are important for manipulators control. In addition, cooperative control is very important for crane and manipulators