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Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2020

Robotized Additive Manufacturing of Funicular Architectural Geometries Based on Building Materials

Robotisation de la fabrication additive de formes architecturales funiculaires à partir de matériaux de construction

Résumé

Additive manufacturing (AM) technology has been identified as one of the major digital innovations that has revolutionized not only the field of the industry but also the construction. From a research side, AM is a multi-disciplinary domain, combining between materials science, mechatronics engineering and architectural design. The AM concept needs to consider the geometry and the shape of printed objects in regards of material properties and robot kinematics which are adaptable to the object size. In this paper, we present an integrated design and control of an omnidirectional Mobile Manipulator Robot (MMR), capable of extruding concrete and clay materials, to print complex and funicular architectural geometries. The studied robot allows printing building pieces with different shapes and sizes by additive deposit which can later be assembled on-site. The main issue concerns the control of continuous material deposit, with specified accuracy and respecting the desired shape. This problem involves to solve, in real-time, the non-linear kinematic model of a 10 Degrees of Freedom (DoF) heterogeneous robot. The kinematic model and the control of utilized MMR are discussed, and an optimization method based on quadratic programming is used for handling the robot redundancy. Finally, we present the experimental results to illustrate the efficiency of AM on the developed concept.
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Dates et versions

hal-02480726 , version 1 (17-02-2020)

Identifiants

Citer

Othman Lakhal, Taha Chettibi, Abdelkader Belarouci, Gérald Dherbomez, Rochdi Merzouki. Robotized Additive Manufacturing of Funicular Architectural Geometries Based on Building Materials. IEEE/ASME Transactions on Mechatronics, 2020, pp.1-1. ⟨10.1109/TMECH.2020.2974057⟩. ⟨hal-02480726⟩
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