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Title: Robotic 3D-Printing for Building and Construction
Authors: Lim, Jian Hui
Pham, Quang-Cuong
Pham, Tien Hung
Keywords: Robotics
3D printing
Issue Date: 2016
Source: Pham, T. H., Lim, J. H., & Pham, Q.-C. (2016). Robotic 3D-Printing for Building and Construction. Proceedings of the 2nd International Conference on Progress in Additive Manufacturing (Pro-AM 2016), 300-305.
Abstract: In existing 3D printing processes, the size of the printed object cannot be larger than that of the built chamber or of the delivery system. This makes 3D printing a priori unsuitable for large-sized projects, such as in building and construction. In this paper, we present a framework based on mobile robotics to address that issue. More precisely, we propose to mount the delivery system on multiple robotic mobile platforms endowed with localization and precise placement capabilities. Doing so allows building objects of virtually any size, without compromising printing resolution or speed. We present the overall 3D printing pipeline, from robots placement optimization to localization and mapping, to path planning, to trajectory control and execution. We discuss the difficulties arising from both the materials delivery side and the robotic side. Finally, we give details about our hardware set-up and present some preliminary results.
Rights: © 2016 by Pro-AM 2016 Organizers. Published by Research Publishing, Singapore
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers
Pro-AM Conference Papers

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