Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing

0552684 - ÚTIA 2023 RIV US eng J - Článek v odborném periodiku
Záda, V. - Belda, Květoslav
Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing.
IEEE Transactions on Automation Science and Engineering. Roč. 19, č. 4 (2022), s. 3723-3734. ISSN 1545-5955. E-ISSN 1558-3783
Institucionální podpora: RVO:67985556
Klíčová slova: Robot kinematics * construction industry * printing * redundant systems * robots
Obor OECD: Mechanical engineering
Impakt faktor: 5.6, rok: 2022
Způsob publikování: Omezený přístup
http://library.utia.cas.cz/separaty/2022/AS/belda-0552684.pdf https://ieeexplore.ieee.org/document/9698834

In relation to automated 3D concrete construction printing, a structure design of a suitable robot manipulator is presented as well as analytical solutions of related kinematics. The proposed structure has a higher number of degrees of freedom which can significantly increase the dexterity of a robot end-effector carrying a printing head. It should perform a continual motion along complicated large-scale printing trajectories. The related robot kinematics is derived by a novel representation of working layers in the complex plane using exponential functions. It leads to an explicit derivation of kinematic equations. The theoretical results are presented by examples of motion trajectories with typical configurations of the proposed structure.
Trvalý link: http://hdl.handle.net/11104/0330546