A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

被引:16
|
作者
Guaman Rivera, Robert [1 ]
Garcia Alvarado, Rodrigo [2 ]
Martinez-Rocamora, Alejandro [3 ]
Auat Cheein, Fernando [1 ]
机构
[1] Univ Tecn Federico Santa Maria, Dept Elect Engn, Valparaiso 1680, Chile
[2] Univ Bio Bio, Dept Design & Theory Architecture, Concepcion 1202, Chile
[3] Univ Seville, Dept Architectural Construct 2, IUACC, ArDiTec,Higher Tech Sch Bldg Engn, Av Reina Mercedes 4-a, Seville 41012, Spain
关键词
mobile manipulator; 3D printing; tracking trajectory; CONTROLLER-DESIGN; CONCRETE; TRACKING; ROBOT;
D O I
10.3390/su12114378
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
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.
引用
收藏
页数:17
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