MOBILE MANIPULATOR FOR 3D PRINTING IN CONSTRUCTION APPLICATIONS: ANALYSIS AND MODELLING

Abstract

Construction automation involves the integration of intelligent machines, traditional construction methods, and additive manufacturing technologies. For example, additive manufacturing technology has developed 3D printing methods in the construction sector. Furthermore, additive manufacturing integrates robotic systems such as industrial manipulators, cable-driven parallel robots, and gantry systems to create housing, buildings, and infrastructure. However, these robotic platforms present print size, installation, and economic cost limitations. In addition, the use of robots can involve challenges of workspace analysis, spatial limitations of construction sites and displacement constraints of robotic platforms. This thesis aims to address the use of a robotic arm mounted on a mobile platform that simulates the behaviour of a displaceable 3D printer in construction tasks. In this context, a manipulator mounted on three mobile robots is evaluated to print building elements for the construction industry; this objective is achieved through the kinematic model approach, workspace constraints and a linear algebra-based control to guarantee print. Another aim addressed considers the interpretation of the workspace of a mobile manipulator with obstacle avoidance at the construction site through obstacle avoidance techniques and the linear algebra controller. The performance of the mobile manipulator for 3D printing of construction elements has been evaluated by considering energy consumption and studying the spatial limitations of the robotic platform on a construction site with obstacles during 3D printing. The results demonstrated the efficiency of the robotics platform to print circular and helical building elements, suggesting the implementation of architectural designs with curved and sinuous walls to achieve new spatial expressions. On the other hand, the results have demonstrated the usefulness of the mobile manipulator in the construction of large-area, low-rise building elements on construction sites with variable environments and obstacles. Finally, these results have demonstrated the manoeuvrability and usability of the mobile manipulator used as a mobile 3D printer, guaranteeing the effectiveness of the printing of building elements.