China3D printingNet, June 29, Singapore’s Nanyang Technological University (NTU) scientists have developed a single-robot industrial platform that uses additive manufacturing (AM) to create concrete structures.
The team’s robotic arm uses a mobile printing method that can be individually3D printingSingle-piece structures of different sizes, and complete large-scale architectural printing.In addition to the development of the robot can be expanded3D printingIn addition to the scale and structural characteristics of the concrete structure, it can also make it more effective in the application of AM in the construction field.
“Our system is installed on a mobile robot.” NTU Associate Professor Pham Qunag Cuong said: “With the ability to move the robot base in the air, our robot can print a structure larger than itself. In addition, having a movable base can also It’s easier to bring robots into the construction site and move inside.”
Used in concrete production3D printing
3D printingAdvances in materials and system design have brought the prospect of fully automated construction, but scalability is still the main obstacle to the widespread adoption of AM in buildings and construction. For many existing gantry and arm-based printing systems, the size of the structure they can print is limited by the limited volume of the gantry or the range of action of the robot arm.Although some3D printingThe machine has been installed on a mobile platform, but printing can only be performed when the system is stationary, thus limiting the size of the structure that can be produced in a single run.
Gantry-based3D printingSince the machine is similar to traditional additive manufacturing methods and easy to program, it is often used to perform construction-related tasks. However, these machines have other shortcomings. For example, the printing area of these systems cannot be manufactured beyond the footing distance of the frame, and their weight requires pre-installation. Arm-based systems provide greater flexibility, but they are also limited and can only print within the reach of the arm.
The previous work of the research team has solved the scalability problems encountered in other studies. The design of the system uses a dobby printer with a complete mobile base to expand its printable area, so the system is designed so that it will not be hindered by common problems such as volume limitations and long delivery times. These systems require a lot of pre-programming, including the creation of multiple printing paths that prioritize collision avoidance, so the team released an updated design.
To improve their “print while moving” paradigm, the researchers used a single mobile robot printer to create a single piece structure of any size.While moving3D printingThese actions need to be carefully planned and coordinated. In addition, precise robot positioning and feedback motion control are essential to ensure that the nozzle deposits the concrete at the correct speed. If the nozzle position shifts more than 1 cm between two consecutive layers, the structure may collapse. Despite these challenges, the research team still believes that their modification method will overcome the scalability limitations of previous arm and gantry designs.
The team’s robotic arm is fixed on a complete mobile base so that it can move freely. The picture comes from the Institute of Electrical and Electronics Engineers.
Construct and test a new robotic arm
The team’s new system consists of a complete mobile base with a 6-DOF industrial robot manipulator mounted on the top. The nozzle is attached to the manipulator’s flange, which is connected to the pump by a hose. The coordinated movement of the mobile base and the robotic arm has been programmed offline, and the object is printed in a layer-by-layer motion. During the execution of these planned actions, the location of the mobile base will be monitored in real time, and feedback control enables the team to track the actions as closely as possible. This not only prevents potential collisions with the arm and base, but also effectively observes the accuracy during the entire process.
By using the Optitrack motion capture system, the team was able to capture3D printingArm movement to test3D printingThe accuracy of the arm. The platform is precise enough to build ten layers of concrete, resulting in an appearance similar to the existing foundation system. In addition, it is found that the maximum distance between the assembly line and the path required by the printer is 9.8 mm, which is much better than the 20 mm that was previously recorded using traditional machines.
When tested in a production environment, the research team’s platform was able to create a structure of 210 cm × 45 cm × 10 cm (length, width, and height), which was significantly larger than the reach of the robot arm (87 cm). Moreover, after the material was cured, the structure proved to be sufficiently robust to be turned over and placed on its side without breaking.
As a result, the researchers believe that their in situ3D printingThe method can create concrete structures, which is a successful upgrade of their previous research. Although the system proves to be able to manufacture 3D structures, the research team admits that its technology can still be improved. For example, more careful calibration and the installation of vibration isolators on the camera can reduce the error of the fiducial mark position and the vibration of the camera during the movement.
Nevertheless, the productivity and accuracy advantages of the team’s adoption of this new method can still allow the use of3D printingCreate more complex structures at a faster rate, as Cuong explained: “We are planning to add collaboration capabilities to our robots. The idea of this is to let the operator hold the robot in his hand and move it along the construction site. The required position, and guide it to achieve high-precision assembly.”
Construction industry3D printing
In recent years, in order to speed up the manufacturing process, countless mobiles have been created3D printingsystem.For example, Paris large3D printingThe company XtreeE received funding from investor TTWiiN Investment Partners in June 2019 for the development of large-scale six-axis3D printingrobot. The bionic arm can print concrete and clay with high precision, and the company also uses the robot to assist customers in collaborative design and large-scale prototyping.
Robotics experts from NYU Tanton School of Engineering began designing a set of equipment in October 20193D printingMachine robots used in autonomous and mobile buildings.move3D printingThe machine is aimed at teamwork manufacturing (CAM) through a concept called “collective additives”.
GXN Innovation, an independent research subsidiary of the Danish construction company 3XN, launched the “Break the Grid” program in July 2019.The plan is to modify3D printingThe machine moves autonomously to establish a more effective method to respond to changes in the city, society and environment.
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