Compensation Manipulator for Concrete 3D Printing Based on the CONPrint3D

Publikation: Beitrag in FachzeitschriftForschungsartikelBeigetragenBegutachtung

Beitragende

Abstract

According to the CONPrint3D concepts, in order to improve the reliability of machine technology and expand the scope of 3D concrete printing, the printing system will be integrated into the truck-mounted concrete pump, which has the problem of insufficient positioning accuracy of the printhead. This article discusses a manipulator for compensation and positioning of the printhead from deflections of the boom of a truck-mounted concrete pump used as a construction 3D printing manipulator. The manipulator must compensate for the workspace X ±300, Y ±300, Z ±250x mm (X – length, Y – width, Z – height). To solve these problems, a comprehensive literature review of manipulators (serial, parallel, and hybrid) was carried out. Manipulators were sorted according to several criteria: degree of freedom, number of actuators, leg designs; and workspace and overall dimensions. Inverse kinematic problems are solved to determine the workspace and dimensions of the manipulators. Clavel's delta robot was selected among the manipulators, and the direct and inverse kinematics problems were solved. To understand and predict the behavior of Clavel's delta robot, a virtual experiment was made using dynamic modeling with the OpenModelica program.
Titel in Übersetzung
Kompensationseinheit für den Beton-3D-Druck baierend auf dem CONPrint3D

Details

OriginalspracheEnglisch
Aufsatznummer1127
Seitenumfang16
FachzeitschriftES Materials & Manufacturing
Jahrgang24
Ausgabenummer1
PublikationsstatusVeröffentlicht - 9 Apr. 2024
Peer-Review-StatusJa

Externe IDs

Scopus 85195027508
ORCID /0009-0007-2559-908X/work/161888004
ORCID /0000-0003-1886-2824/work/161889333
ORCID /0000-0002-9168-0835/work/161891417

Schlagworte

Schlagwörter

  • Beton-3D-Druck, Manipulator, Kompensationseinheit, Compensating manipulator, Concrete 3D printing, Direct kinematics, Dynamic simulation, Inverse kinematics, Manipulator