Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F22%3A00552684" target="_blank" >RIV/67985556:_____/22:00552684 - isvavai.cz</a>
Alternative codes found
RIV/46747885:24220/22:00010862
Result on the web
<a href="https://ieeexplore.ieee.org/document/9698834" target="_blank" >https://ieeexplore.ieee.org/document/9698834</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TASE.2021.3133138" target="_blank" >10.1109/TASE.2021.3133138</a>
Alternative languages
Result language
angličtina
Original language name
Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing
Original language description
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.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF16_025%2F0007424" target="_blank" >EF16_025/0007424: 3D Print in civil engineering and architecture</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Automation Science and Engineering
ISSN
1545-5955
e-ISSN
1558-3783
Volume of the periodical
19
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
12
Pages from-to
3723-3734
UT code for WoS article
000751476800001
EID of the result in the Scopus database
2-s2.0-85123740799