Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/46747885:24220/22:00010862

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing

Popis výsledku anglicky

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.

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

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Automation Science and Engineering

ISSN

1545-5955

e-ISSN

1558-3783

Svazek periodika

19

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

12

Strana od-do

3723-3734

Kód UT WoS článku

000751476800001

EID výsledku v databázi Scopus

2-s2.0-85123740799