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Abstract
The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results –lowest tracking error and lowest control effort– for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption.
Highlights
IntroductionConstruction automation (CA) is defined as the integration of intelligent machines (e.g., building robots and/or embedded and dedicated systems) [1], printing methods (such as 3D printing, concrete printing, contour crafting, D-Shape [2]), traditional construction methods [3] and advanced construction technologies (such as i) extrusion-based Additive Manufacturing (AM) and ii)binder jetting) [4]
Construction automation (CA) is defined as the integration of intelligent machines [1], printing methods, traditional construction methods [3] and advanced construction technologies extrusion-based Additive Manufacturing (AM) and ii)binder jetting) [4]
To overcome the later problem, in this work we propose to study the usability of a robotic arm mounted on a mobile platform, to cover bigger areas of the construction site and to print convex geometries
Summary
Construction automation (CA) is defined as the integration of intelligent machines (e.g., building robots and/or embedded and dedicated systems) [1], printing methods (such as 3D printing, concrete printing, contour crafting, D-Shape [2]), traditional construction methods [3] and advanced construction technologies (such as i) extrusion-based AM and ii)binder jetting) [4]. Additive Manufacturing (AM) technologies allow the horizon of the 3D printing to be expanded in the construction sector. In this context, binder jetting AM is a technology that performs the selective deposition of a binder solution through a print nozzle onto a previously deposited powder layer [6]. The additive manufacturing of concrete extrusion-based has recently employed in the construction industry. This technology involves extruding the cement-based material with nozzles of different sizes to build a layered structure model [7]
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