3D Concrete Printing with Macro-micro Robots

Abstract

We discuss an innovative approach to automating a key process in the construction industry. Specifically, we describe the design and development of a robotic system designed to interactively assist construction workers to dexterously deploy concrete-delivery hoses in congested spaces for 3D printing of concrete. The approach is based on an intelligent novel cable-driven macro/micro co-robot, where a cable driven parallel robot acts as the macro-base, and a cable-driven continuum robot (integrated with an industrial concrete delivery hose) serves as the micro-unit. The macro system acts as a relatively light and easily deployable base unit, with the micro-unit providing the delivery hose with dexterity, by converting it into a continuum robot. Overall, the system is kinematically redundant, enabling the use of the redundant degrees of freedom to enhance the performance of the system. The robotics research is enabled by materials research in cementitious materials, developing concrete with suitable properties for 3D printing. We describe the design, development, and initial testing of the system.