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3D Printing of Concrete with a Continuum-Robot-Hose Using Variable-Curvature Kinematics (2022-05)

10.1109/icra46639.2022.9812123

 Srivastava Manu, Ammons Jake,  Peerzada Abdul,  Krovi Venkat,  Rangaraju Prasad,  Walker Ian
Contribution - 2022 International Conference on Robotics and Automation (ICRA), pp. 3216-3222

Abstract

We present a novel application of continuum robots acting as concrete hoses to support 3D printing of cementitious materials. An industrial concrete hose was fitted with a cable harness and remotely actuated via tendons. The resulting continuum hose robot exhibited non constant curvature. In order to account for this, a new geometric approach to modeling variable curvature inverse kinematics using Euler curves is introduced herein. The new closed form model does not impose any additional computational cost compared to the constant curvature model and results in a marked improvement in the observed performance. Experiments involving 3D printing with cementitious mortar using a continuum hose robot were also conducted.

3 References

  1. Biernacki Joseph, Bullard Jeffrey, Sant Gaurav, Banthia Nemkumar et al. (2017-04)
    Cements in the 21st Century:
    Challenges, Perspectives, and Opportunities
  2. Bos Freek, Wolfs Robert, Ahmed Zeeshan, Salet Theo (2016-08)
    Additive Manufacturing of Concrete in Construction:
    Potentials and Challenges of 3D Concrete Printing
  3. Tiryaki Mehmet, Zhang Xu, Pham Quang-Cuong (2019-11)
    Printing-While-Moving:
    A New Paradigm for Large-Scale Robotic 3D Printing

3 Citations

  1. Ramirez Rodriguez Fatima, Ahmad Rafiq (2025-09)
    Sustainable Technology Advances for Additive Construction:
    A State-of-the-Art Review
  2. Srivastava Manu, Walker Ian (2024-12)
    Continuum Soft Robots with Applications in the Construction Industry
  3. Walker Ian, Krovi Venkat, Peerzada Abdul, Raman Adhiti et al. (2022-10)
    3D Concrete Printing with Macro-Micro Robots

BibTeX 
@inproceedings{sriv_ammo_peer_krov.2022.3PoCwaCRHUVCK,
  author            = "Manu Srivastava and Jake Ammons and Abdul Basit Peerzada and Venkat N. Krovi and Prasad Rao Rangaraju and Ian D. Walker",
  title             = "3D Printing of Concrete with a Continuum-Robot-Hose Using Variable-Curvature Kinematics",
  doi               = "10.1109/icra46639.2022.9812123",
  year              = "2022",
  pages             = "3216--3222",
  booktitle         = "2022 International Conference on Robotics and Automation (ICRA)",
}
Formatted Citation

M. Srivastava, J. Ammons, A. B. Peerzada, V. N. Krovi, P. R. Rangaraju and I. D. Walker, “3D Printing of Concrete with a Continuum-Robot-Hose Using Variable-Curvature Kinematics”, in 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 3216–3222. doi: 10.1109/icra46639.2022.9812123.

Srivastava, Manu, Jake Ammons, Abdul Basit Peerzada, Venkat N. Krovi, Prasad Rao Rangaraju, and Ian D. Walker. “3D Printing of Concrete with a Continuum-Robot-Hose Using Variable-Curvature Kinematics”. In 2022 International Conference on Robotics and Automation (ICRA), 3216–22, 2022. https://doi.org/10.1109/icra46639.2022.9812123.