Displacement Analysis of Large-Scale Robotic Arm for Printing Cement Mortar Using Photogrammetry

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24210%2F23%3A00010307" target="_blank" >RIV/46747885:24210/23:00010307 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/46747885:24620/23:00010307

Výsledek na webu

<a href="https://www.mdpi.com/2075-1702/11/1/37/pdf" target="_blank" >https://www.mdpi.com/2075-1702/11/1/37/pdf</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/machines11010037" target="_blank" >10.3390/machines11010037</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Displacement Analysis of Large-Scale Robotic Arm for Printing Cement Mortar Using Photogrammetry

Popis výsledku v původním jazyce

The development of specialised equipment for three-dimensional printing of cement mortar requires the deployment of advanced design methods. The accuracy of printing robotic arms is influenced by the change in the position of the end effector, which is influenced by the stiffness of the arm, or deformation of parts of the arm and yielding in the place of rotation axes. Determining the actual change in the end effector position is often a difficult challenge. In this paper, we analysed the displacement on a large robotic arm by the non-contact optical photogrammetry method. We applied this method to a specialised 2.8 m long robotic arm SCARA with an added rotational axis. We compared the results from photogrammetry with the results from measurements with a mechanical deflection meter, and with the predicted displacement values from the FEM simulation. The results from both measurement methods showed maximum deviations of hundredths of a mm. The findings of the analysis thus indicate that photogrammetry meets the strict requirements for displacement measurement on a robotic arm for the 3D printing of cement mortar. A significant advantage of the method is the possibility of measuring almost all attainable arm positions and achieving results in hundreds of places.

Název v anglickém jazyce

Displacement Analysis of Large-Scale Robotic Arm for Printing Cement Mortar Using Photogrammetry

Popis výsledku anglicky

The development of specialised equipment for three-dimensional printing of cement mortar requires the deployment of advanced design methods. The accuracy of printing robotic arms is influenced by the change in the position of the end effector, which is influenced by the stiffness of the arm, or deformation of parts of the arm and yielding in the place of rotation axes. Determining the actual change in the end effector position is often a difficult challenge. In this paper, we analysed the displacement on a large robotic arm by the non-contact optical photogrammetry method. We applied this method to a specialised 2.8 m long robotic arm SCARA with an added rotational axis. We compared the results from photogrammetry with the results from measurements with a mechanical deflection meter, and with the predicted displacement values from the FEM simulation. The results from both measurement methods showed maximum deviations of hundredths of a mm. The findings of the analysis thus indicate that photogrammetry meets the strict requirements for displacement measurement on a robotic arm for the 3D printing of cement mortar. A significant advantage of the method is the possibility of measuring almost all attainable arm positions and achieving results in hundreds of places.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_025%2F0007424" target="_blank" >EF16_025/0007424: 3D tisk ve stavebnictví a architektuře</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Machines

ISSN

2075-1702

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

16

Strana od-do

37

Kód UT WoS článku

000915681400001

EID výsledku v databázi Scopus

2-s2.0-85146793902