Compensation Manipulator for Concrete 3D Printing Based on the CONPrint3D

Abstract

According to the CONPrint3D concepts, in order to improve the reliability of machine technology and expand the scope of 3D concrete printing, the printing system will be integrated into the truck-mounted concrete pump, which has the problem of insufficient positioning accuracy of the printhead. This article discusses a manipulator for compensation and positioning of the printhead from deflections of the boom of a truck-mounted concrete pump used as a construction 3D printing manipulator. The manipulator must compensate for the workspace X ±300, Y ±300, Z ±250x mm (X – length, Y – width, Z – height). To solve these problems, a comprehensive literature review of manipulators (serial, parallel, and hybrid) was carried out. Manipulators were sorted according to several criteria: degree of freedom, number of actuators, leg designs; and workspace and overall dimensions. Inverse kinematic problems are solved to determine the workspace and dimensions of the manipulators. Clavel's delta robot was selected among the manipulators, and the direct and inverse kinematics problems were solved. To understand and predict the behavior of Clavel's delta robot, a virtual experiment was made using dynamic modeling with the OpenModelica program.