Publications / 2017 Proceedings of the 34rd ISARC, Taipei, Taiwan

Automation of Robotic Concrete Printing Using Feedback Control System

Biranchi Panda, Jian Hui Lim, Nisar Ahamed Noor Mohamed, Suvash Chandra Paul, Yi Wei Daniel Tay and Ming Jen Tan
Pages 276-280 (2017 Proceedings of the 34rd ISARC, Taipei, Taiwan, ISBN 978-80-263-1371-7, ISSN 2413-5844)

In recent days, digital fabrication is termed as “third industrial revolution” and its interaction with extrusion based cementitious material has been well known as concrete printing. Concrete printing is a promising technology where robotic/gantry systems, controlled by digital model deposits concrete layer by layer following the G-code, generated from NC program. However, the robotic system does not consider the material (concrete) property and part geometry which sometimes causes failure in the printing process. Concrete property changes with time and therefore machine parameters such as velocity, layer height are needed to be change with respect to it in order to obtain uninterrupted flow during printing. This study utilizes a six-axis robot integrated with an extruder and screw pump to automate the motion system using feedback obtained from material fresh properties. Experimental results confirm robustness of developed automated set up for concrete printing application

Keywords: Digital construction, Feedback control, Concrete printing, Autonomous robot