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Дата издания
20.04.2024На каком языке издана
ISSN
2578-0611Область исследования
Тип исследования
Аннотация (краткое описание)
According to the CONPrint3D concepts, in order to improve the reliability of machine technology and expand the scope of 3D concrete printing, the printing system will be integrated into the truck-mounted concrete pump, which has the problem of insufficient positioning accuracy of the printhead. This article discusses a manipulator for compensation and positioning of the printhead from deflections of the boom of a truck-mounted concrete pump used as a construction 3D printing manipulator. The manipulator must compensate for the workspace X ±300, Y ±300, Z ±250x mm (X – length, Y – width, Z – height). To solve these problems, a comprehensive literature review of manipulators (serial, parallel, and hybrid) was carried out. Manipulators were sorted according to several criteria: degree of freedom, number of actuators, leg designs; and workspace and overall dimensions. Inverse kinematic problems are solved to determine the workspace and dimensions of the manipulators. Clavel's delta robot was selected among the manipulators, and the direct and inverse kinematics problems were solved. To understand and predict the behavior of Clavel's delta robot, a virtual experiment was made using dynamic modeling with the OpenModelica program.DOI
10.30919/esmm1127Тип публикаций
Практическое значение
The practical significance of this study lies in improving the accuracy, reliability, and functionality of 3D concrete printing systems by integrating a compensation manipulator into a truck-mounted concrete pump. This approach addresses a key limitation of mobile construction printing systems—insufficient positioning accuracy of the printhead due to boom deflections during operation. The proposed solution enables precise real-time correction of printhead position within a defined workspace (X ±300 mm, Y ±300 mm, Z ±250 mm), ensuring stable and high-quality concrete deposition even under dynamic working conditions. The use of a Clavel delta robot as the compensating manipulator provides high speed, precision, and structural efficiency, making it suitable for integration into mobile construction equipment. From a practical perspective, the implementation of this system enhances the reliability and quality of large-scale 3D concrete printing, reduces construction errors, and improves structural consistency of printed elements. It also expands the applicability of additive construction technologies in real-world building projects, especially in infrastructure and on-site construction. The use of inverse kinematics analysis and dynamic modeling in OpenModelica supports accurate prediction of system behavior and optimal design of the manipulator. Overall, the proposed concept contributes to the development of advanced, automated, and highly precise construction 3D printing systems based on mobile platforms.Квартиль
Источник квартиля
SCImago (Scopus)Impact Factor
0Количество цитирований
5Данный документ располагается в коллекциях
Международные публикации ученых SU
Scopus