Workspace Analysis of a Mobile Manipulator with Obstacle Avoidance in 3D Printing Tasks
Source abstract
Abstract
The knowledge of the workspace for a robotic system on construction sites represents an essential resource to ensure the work progress, guarantee the safety of the construction tasks, and avoid robot damage. Despite the dramatic development of 3D printing technologies with robotic systems in recent years, these are still several challenges to consider, such as the size of the printing profile and obstacles in the construction site. This work presents the results from evaluating the workspace of a mobile manipulator in 3D printing tasks on construction sites. The methodology analyses the printing workspace based on the workspace of the mobile manipulator, considering fixed obstacles and possible collisions between the robot and obstacles during 3D printing tasks. The results showed that the shape of the printing profile defined as a building element changes the shape of the printing workspace. Furthermore, the obstacles in the construction site and height variation of the printing profile cause changes in the displacement of the robotic platform and values of rotation of its joints, which also modify the shape of the printing workspace.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Innovations in Concrete and Construction Materials · Additive Manufacturing and 3D Printing Technologies · Modular Robots and Swarm Intelligence
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Electronics Engineering, Universidad Técnica Federico Santa María, Valparaíso 1680, Chile
Department of Design and Theory of Architecture, Universidad de Bio-Bio, Concepción 1202, Chile
ArDiTec, Department of Architectural Constructions II, IUACC, Higher Technical School of Building Engineering, Universidad de Sevilla, Av. Reina Mercedes 4-a, 41012 Sevilla, Spain
Funding
Comisión Nacional de Investigación Científica y Tecnológica
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