NRI: FND: 3D Concrete Printing with Macro-Micro Robots

NRI：FND：使用宏观-微观机器人进行 3D 混凝土打印

• 批准号: 1924721
• 负责人: Ian Walker
• 金额: $ 74.17万
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-08-01 至 2023-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1924721&HistoricalAwards=false
• 关键词: NRI; FND; 3D; Concrete; Printing

The construction industry is a critical element of the US economy, but construction remains one of the least automated and lowest productivity industries in the world. Much construction activity is low-tech, injury-prone and dependent on semi-skilled labor. Within the industry, the pouring of concrete is a pervasive process. This award supports research in robotic systems for pouring concrete. The research will generate the fundamental knowledge required to design robots which can pour concrete with greater efficiency and precision than current manual methods, while working intimately and safely with human workers. The multidisciplinary research will be conducted by a diverse group of graduate and undergraduate students that includes women and underrepresented minority students. The resulting robot systems will be lightweight, widely deployable, low-cost, and inherently safe. Therefore, results from this research will improve work flow, enhance build quality, support workers, and enhance the competitiveness of the US construction industry.The concrete deployment robot system will be based on a new cable-driven macro/micro design, featuring an under-actuated cable robot as the macro unit, with a cable-driven continuum robot, integrated with the concrete delivery hose, as the micro unit. The macro-micro system represents a significant innovation in cable-actuated co-robots. Coordination of the dual system presents new and challenging problems in the control of interconnected dynamical systems subject to differential-algebraic constraints and the research will generate the fundamental knowledge required to solve the associated problems. The need for the robot to safely and robustly assist human coworkers further motivates an innovative data-driven methodology for providing situational awareness of the dynamic construction environment. The focus on dexterous concrete pouring represents a quantum leap for civil engineering in enabling additive 3D printing of concrete structures with enhanced functionalities, and the related fundamental materials research will yield new understanding of the most suitable concrete formulations for robotic deployment.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

建筑业是美国经济的关键要素，但建筑仍然是世界上自动化最低和最低的生产力行业之一。许多施工活动是低科技的，容易受伤的，并且取决于半技能的劳动。在行业内，混凝土的倒入是一个普遍的过程。该奖项支持机器人系统中的研究浇筑混凝土。这项研究将产生设计机器人所需的基本知识，这些机器人可以比当前的手动方法更高的效率和精确度倒入混凝土，同时与人类工人紧密，安全地合作。多学科研究将由包括女性和代表性不足的少数族裔学生在内的一群研究生和本科生进行。最终的机器人系统将轻巧，可部署，低成本且天生安全。因此，这项研究的结果将改善工作流程，提高质量，支持工人并增强美国建筑行业的竞争力。混凝土部署机器人系统将基于新的电缆驱动的宏观/微型设计，该设计具有宏观的电缆机器人作为宏观单元，并配备了电缆驱动的连续性机器人，并配备了一个与Concrete concrete concrete Encorte ass ass Microco ass asmic ass as Microto ass Microco ass Microco hos os sicro，宏观微型系统代表了电缆驱动的共同机器人的显着创新。 双重系统的协调提出了受差异代数约束的互连动力系统的控制，这将产生解决相关问题所需的基本知识。机器人的需求安全，强大地帮助人类同事进一步激发了创新的数据驱动方法，以提供对动态构建环境的情境意识。对灵敏混凝土倾泻的关注是土木工程在实现具有增强功能的混凝土结构打印的添加剂3D打印方面的量子飞跃，相关的基本材料研究将产生对机器人部署最合适的具体配方的新理解，以反映NSF的法定任务和审查的范围，这是通过评估的范围来弥补的。

项目成果

Reinforcement Learning Control of a Reconfigurable Planar Cable Driven Parallel Manipulator

可重构平面电缆驱动并联机械臂的强化学习控制

• DOI: 10.1109/icra48891.2023.10160498
• 发表时间: 2023
• 期刊: 2023 IEEE International Conference on Robotics and Automation (ICRA2023
• 作者: Raman, Adhiti;Salvi, Ameya;Schmid, Matthias;Krovi, Venkat
• 通讯作者: Krovi, Venkat

Wrench Analysis of Kinematically Redundant Planar CDPRs

• DOI: 10.1007/978-3-030-75789-2_8
• 发表时间: 2021
• 作者: Adhiti Raman;Matthias J. Schmid;V. Krovi

Modeling and Design Optimization of Robotic Hoses for 3D Printing of Cement

用于水泥 3D 打印的机器人软管的建模和设计优化

• 发表时间: 2020
• 期刊: ASME International Mechanical Engineering Congress and Exposition (IMECE
• 作者: Sterckx, P;Walker, I.D.
• 通讯作者: Walker, I.D.

Stiffness Modulation for a Planar Mobile Cable-Driven Parallel Manipulators via Structural Reconfiguration

通过结构重构对平面移动电缆驱动并联机械手进行刚度调制

• DOI: 10.1115/detc2020-22430
• 发表时间: 2020
• 期刊: ASME 2020 International Design Engineering Technical Conferences and Computers in Engineering Conferences
• 作者: Raman, Adhiti;Schmid, Matthias;Krovi, Venkat
• 通讯作者: Krovi, Venkat

A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot

平面可重构电缆驱动并联机器人的故障识别和恢复框架

• DOI: 10.1016/j.ifacol.2022.11.211
• 发表时间: 2022
• 期刊: IFAC-PapersOnLine
• 作者: Raman, Adhiti;Walker, Ian;Krovi, Venkat;Schmid, Matthias
• 通讯作者: Schmid, Matthias