A comprehensive performance evaluation of different mobile manipulators used as displaceable 3D printers of building elements for the construction industry

Robert Guamán Rivera, Rodrigo García Alvarado, Alejandro Martínez-Rocamora, Fernando Auat Cheein*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)

Abstract

The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results-lowest tracking error and lowest control effort-for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption.

Original languageEnglish
Article number4378
JournalSustainability
Volume12
Issue number11
DOIs
Publication statusPublished - 1 Jun 2020

Keywords

  • 3D printing
  • Mobile manipulator
  • Tracking trajectory

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Geography, Planning and Development
  • Renewable Energy, Sustainability and the Environment
  • Building and Construction
  • Environmental Science (miscellaneous)
  • Energy Engineering and Power Technology
  • Hardware and Architecture
  • Computer Networks and Communications
  • Management, Monitoring, Policy and Law

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