Large-scale 3D printing by a team of mobile robots

Xu, Zaiyan; Li, Mingyang; Lim, Jian Hui; Tay, Yi; Phạm, Hưng; Pham, Quang Cuong

doi:10.1016/j.autcon.2018.08.004

Cited by 303 publications

(188 citation statements)

References 45 publications

Supporting

Mentioning

183

Contrasting

Unclassified

Order By: Relevance

“…In many applications, tethers are used to provide power and resources to robots or used as a communication link [1,2,3], especially in extreme environments, such as in underwater, disaster recovery and rescue [4,5,6]. While tethering helps in communication and resource delivery, it also poses challenges to robot control and planning.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, due to the presence of obstacles and cables, certain positions can be reached by robot only under specific robot cable configurations. Under many circumstances, multiple tethered robots have to cooperate and work together in a shared workspace [4,5,7,3], which introduces more constraints to the planning and control problems. More specifically, in the large-scale, multi-robot 3D Printing system [3], the tethers are indispensable to deliver the fresh concrete from the mixer to the print nozzle.…”

Section: Introductionmentioning

confidence: 99%

“…Under many circumstances, multiple tethered robots have to cooperate and work together in a shared workspace [4,5,7,3], which introduces more constraints to the planning and control problems. More specifically, in the large-scale, multi-robot 3D Printing system [3], the tethers are indispensable to deliver the fresh concrete from the mixer to the print nozzle. Consider also the cable-cable interaction and robot-cable interaction when multiple tethered robots are deployed for terrain and harsh environment exploration [4,5,7].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Planning coordinated motions for tethered planar mobile robots

Zhang

Pham

2019

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables, and obstacles pose significant difficulties for planning. Previous works have studied the problem of detecting whether a target cable configuration is intersecting (or entangled). Here, we are interested in the motion planning problem: how to plan and coordinate the robot motions to realize a given non-intersecting target cable configuration. We identify four possible modes of motion, depending on whether (i) the robots move in straight lines or following their cable lines; (ii) the robots move sequentially or concurrently. We present an in-depth analysis of Straight & Concurrent, which is the most practically-interesting mode of motion. In particular, we propose algorithms that (a) detect whether a given target cable configuration is realizable by a Straight & Concurrent motion, and (b) return a valid coordinated motion plan. The algorithms are analyzed in detail and validated in simulations and in a hardware experiment.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Planning coordinated motions for tethered planar mobile robots

Zhang

Pham

2019

Robotics and Autonomous Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…Each robot must perform a diverse task, which slows down the printing process and limits the architectural form to print. Recently, the emergence of mobile robots (rolling or flying) is increasingly present in the field of additive manufacturing in the building like [11]. The use of mobile robots for 3D printing combines the advantages of gantry and robot handling systems by printing on the outside and inside.…”

Section: Introductionmentioning

confidence: 99%

“…The use of mobile robots for 3D printing combines the advantages of gantry and robot handling systems by printing on the outside and inside. But also, to employ multiple mobile robots printing concurrently a large, single-piece, structure [11].…”

Section: Introductionmentioning

confidence: 99%

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

Lakhal

Melingui

Dherbomez

2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

View full text Add to dashboard Cite

Additive manufacturing is an automated process for producing layer-by-layer material deposition. Recently this technology has been introduced in the industrial construction in order to print houses or smaller piece structures for on-site assembly, with complex geometry. In Additive manufacturing processes, the material deposition step is generally followed by a printing quality inspection step. However, the geometry of printed structures with minimal surfaces is sometimes complex, where rigid structure robots cannot reach certain zones to scan their surfaces. In this paper, a continuum-hyper-redundant manipulator equipped with a camera is attached to the endeffector of a mobile-manipulator robot for the quality inspection process. Indeed, Continuum manipulators can bend along structures with complex geometry; and this inherent flexibility makes them suitable for navigation and operation in congested environments. The number of controlled actuators being greater than the dimension of task space, this work is summarized in a trajectory tracking of hyper-redundant robots. This issue lies in the resolution of strongly nonlinear equations with a realtime computation. Thus, a hybrid methodology which combines the advantages of quantitative and qualitative approaches is used for modeling and resolution of the hyper-redundant robot kinematics. A kinematic controller was designed and a set of experiments was carried out to evaluate the level of efficiency of the proposed approach.

show abstract

3D Printing in Concrete: General Considerations and Technologies

Perrot¹,

Amziane²

2019

3D Printing of Concrete

View full text Add to dashboard Cite

Large-scale 3D printing by a team of mobile robots

Cited by 303 publications

References 45 publications

Planning coordinated motions for tethered planar mobile robots

Planning coordinated motions for tethered planar mobile robots

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

3D Printing in Concrete: General Considerations and Technologies

Contact Info

Product

Resources

About