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A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry

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Listed:
  • Robert Guamán Rivera

    (Department of Electronics Engineering, Universidad Técnica Federico Santa María, Valparaíso 1680, Chile)

  • Rodrigo García Alvarado

    (Department of Design and theory of Architecture, Universidad de Bio-Bio, Concepción 1202, Chile)

  • Alejandro Martínez-Rocamora

    (ArDiTec, Department of Architectural Constructions II, IUACC, Higher Technical School of Building Engineering, Universidad de Sevilla, Av. Reina Mercedes 4-a, 41012 Sevilla, Spain)

  • Fernando Auat Cheein

    (Department of Electronics Engineering, Universidad Técnica Federico Santa María, Valparaíso 1680, Chile)

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.

Suggested Citation

  • Robert Guamán Rivera & Rodrigo García Alvarado & Alejandro Martínez-Rocamora & Fernando Auat Cheein, 2020. "A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry," Sustainability, MDPI, vol. 12(11), pages 1-17, May.
    • Handle: RePEc:gam:jsusta:v:12:y:2020:i:11:p:4378-:d:363411
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    References listed on IDEAS

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    1. Shaoxiong Li & Le Liu & Changhai Peng, 2020. "A Review of Performance-Oriented Architectural Design and Optimization in the Context of Sustainability: Dividends and Challenges," Sustainability, MDPI, vol. 12(4), pages 1-36, February.
    2. Behrokh Khoshnevis & Dooil Hwang & Ke-Thia Yao & Zhenghao Yeh, 2006. "Mega-scale fabrication by Contour Crafting," International Journal of Industrial and Systems Engineering, Inderscience Enterprises Ltd, vol. 1(3), pages 301-320.
    3. Andrej Tibaut & Danijel Rebolj & Matjaž Nekrep Perc, 2016. "Interoperability requirements for automated manufacturing systems in construction," Journal of Intelligent Manufacturing, Springer, vol. 27(1), pages 251-262, February.
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    Cited by:

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