Automation of Robotic Concrete Printing Using Feedback-Control-System (2017-07)¶
, , Mohamed Nisar, , ,
Contribution - Proceedings of the 34th International Symposium on Automation and Robotics in Construction
Abstract
In recent years, digital fabrication is termed as “third industrial revolution” and its interaction with extrusion based cementitious material has been well known as concrete printing. In concrete printing, a gantry/robotic system deposits concrete layer by layer following G-codes generated from slicing of the 3D component. However, the robotic system does not consider the material (concrete) properties and component geometry which sometimes cause failure in the printing process. Concrete properties are usually attributed with time and therefore the system parameters such as extruder velocity and layer height are necessarily to be controlled accordingly to obtain an uninterrupted smooth flow. In line with this, our current research aims to automate the printing process by collecting material’s fresh properties through a feedforward control system. A six-axis industrial Denso® robot was used for 3D printing of geopolymer concrete with the help of screw pump and ten-millimeter circular extruder. The obtained experimental results confirmed the validity and robustness of this automated set up.
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BibTeX
@inproceedings{pand_lim_moha_paul.2017.AoRCPUFCS,
author = "Biranchi Narayan Panda and Jian Hui Lim and Nisar Ahamed Noor Mohamed and Suvash Chandra Paul and Yi Wei Daniel Tay and Ming Jen Tan",
title = "Automation of Robotic Concrete Printing Using Feedback-Control-System",
doi = "10.22260/isarc2017/0037",
year = "2017",
booktitle = "Proceedings of the 34th International Symposium on Automation and Robotics in Construction: ISARC 2017",
editor = "Min-Yuan Cheng and Hung-Ming Chen and Kuan Chang Chiu",
}
Formatted Citation
B. N. Panda, J. H. Lim, N. A. N. Mohamed, S. C. Paul, Y. W. D. Tay and M. J. Tan, “Automation of Robotic Concrete Printing Using Feedback-Control-System”, in Proceedings of the 34th International Symposium on Automation and Robotics in Construction: ISARC 2017, 2017. doi: 10.22260/isarc2017/0037.
Panda, Biranchi Narayan, Jian Hui Lim, Nisar Ahamed Noor Mohamed, Suvash Chandra Paul, Yi Wei Daniel Tay, and Ming Jen Tan. “Automation of Robotic Concrete Printing Using Feedback-Control-System”. In Proceedings of the 34th International Symposium on Automation and Robotics in Construction: ISARC 2017, edited by Min-Yuan Cheng, Hung-Ming Chen, and Kuan Chang Chiu, 2017. https://doi.org/10.22260/isarc2017/0037.