Abstract
In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildings that require a quick construction time and complex structures that classical methods cannot implement. In this paper, a Cable-Driven Parallel Robot (CDPR) is described for the 3D printing of concrete for building a house. The CDPR structures are designed to be suitable for 3D printing in a large workspace. A linear programming algorithm was used to quickly calculate the inverse kinematic problem with the force equilibrium condition for the moving platform; this method is suitable for the flexible configuration of a CDPR corresponding to the various spaces. Cable sagging was also analyzed by the Trust-Region-Dogleg algorithm to increase the accuracy of the inverse kinematic problem for controlling the robot to perform basic trajectory interpolation movements. The paper also covers the design and analysis of a concrete extruder for the 3D printing method. The analytical results are experimented with based on a prototype of the CDPR to evaluate the work ability and suitability of this design. The results show that this design is suitable for 3D printing in construction, with high precision and a stable trajectory printing. The robot configuration can be easily adjusted and calculated to suit the construction space, while maintaining rigidity as well as an adequate operating space. The actuators are compact, easy to disassemble and move, and capable of accommodating a wide variety of dimensions.
Highlights
Accepted: 5 January 2021Currently, the technology of rapid prototyping, 3D printing, machining with CNC machines, factory automation with robots, and monitoring and control over the internet is being widely applied to reduce production and labor costs, as well as to increase productivity and consistency [1,2,3,4,5]
We propose an automatic concrete 3D printing system based on the cable-driven parallel robot (CDPR)
The main contribution of this study is to propose a flexible 3D concrete printing system on the basis of CDPR with two efficient algorithms used to calculate the workspace, check the trajectory in the workspace for each specific configuration of the CDPR, and calculate the cable tension that satisfies the conditions of a quasi-static equilibrium condition, forces limit, load variation, and cable sagging, thereby calculating the control differences as to the length of the cables according to each given path
Summary
The technology of rapid prototyping, 3D printing, machining with CNC machines, factory automation with robots, and monitoring and control over the internet is being widely applied to reduce production and labor costs, as well as to increase productivity and consistency [1,2,3,4,5]. The authors’ cable-suspended parallel robot geometries relied on their quasi-static behavior, based on a particular wrench-feasibility analysis; the authors used a performance index, which is the maximum acceptable distance between the geometry center of the mobile platform and the center mass of the set consisting of the platform and payload This performance index is used in determining the geometry of cable robots for heavy load handling applications, so that the ratio between the workspace and the size of the robot is large. The main contribution of this study is to propose a flexible 3D concrete printing system on the basis of CDPR with two efficient algorithms used to calculate the workspace, check the trajectory in the workspace for each specific configuration of the CDPR, and calculate the cable tension that satisfies the conditions of a quasi-static equilibrium condition, forces limit, load variation, and cable sagging, thereby calculating the control differences as to the length of the cables according to each given path. Parameter calculations are used to control the system to perform the printing trajectory
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